CN111381604A - Deception trajectory generation method and system for intercepting autonomous flight low-speed small target - Google Patents
Deception trajectory generation method and system for intercepting autonomous flight low-speed small target Download PDFInfo
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Abstract
The application discloses a deception trajectory generation method and a system for intercepting autonomous flight low-slow small targets, wherein the method comprises the following steps: calculating a deception signal track and a deception speed for inducing the low-slow small target to reach the designated area position in real time according to the designated area position finally reached by the low-slow small target and the position and speed of the low-slow small target transmitted in real time; the system comprises: the system comprises a detection system, a ground station, a GPS receiver, a navigation signal simulator and a navigation signal transmitter. The method uses a PID control algorithm based on BP neural network setting to calculate the distance variation in real time according to the deviation of the target expected course angle and the actual flight course angle, and generates the deception track. And receiving the deception track navigation signal to position the low-slow small target, continuously adjusting the flight course of the low-slow small target, and finally reaching the position of the designated area.
Description
Technical Field
The application relates to the field of unmanned aerial vehicle interception and capture, in particular to a deception trajectory generation method and system for intercepting autonomous flying low-slow small targets.
Background
With the increasing market of unmanned aerial vehicles, the threat of the slow small targets to public safety is also increasing, the existing interception of the slow small targets is mainly divided into two categories of interference and destruction, and in recent years, satellite navigation decoy systems begin to appear, but most of the systems can only prevent the slow small targets from invading a specific protection area, and cannot control the targets to reach the specified area and capture the targets.
Disclosure of Invention
In order to solve the problems, the invention provides a deception trajectory generation method and a system for intercepting autonomous flying low-speed small targets.
The embodiment of the application provides a deception trajectory generation method for intercepting autonomous flight low-slow small targets, which specifically comprises the following steps:
calculating a deception signal track and a deception speed for inducing the low-slow small target to reach the designated area position in real time according to the designated area position finally reached by the low-slow small target and the position and speed of the low-slow small target transmitted in real time;
and the deception signal track is subjected to distance deviation from the deception track to a low-slow small target preset track through calculating the difference value between the expected course angle and the actual flying course angle, so that the specific position of the deception signal track is obtained.
The real-time calculation of the deception signal track specifically comprises the following steps: based on a low-slow small autonomous flight control principle, the distance from the deception track to the low-slow small target preset track is adjusted according to the angle deviation by comparing the deviation between the low-slow small target expected course angle and the actual flight course angle in real time, and the specific position of the deception track is calculated according to the distance. The invention uses a PID control algorithm based on BP neural network setting to calculate the distance variation in real time, and realizes the adjustment control of the flight trajectory of the low-slow small target, so that the low-slow small target which performs autonomous flight can reach the position of a designated area. The method comprises the following specific steps:
according to real-time transmission to ground stationThe position and the speed of the low and slow small target are subjected to track fitting, and the preset flight course l of the target is estimatedoAnd the flying speed V, the deceptive track speed VspIs the same as the velocity V.
The flying height and speed of the unmanned aerial vehicle are generally set when the unmanned aerial vehicle flies in a preset track, but the actual flying speed changes continuously in the actual flying process due to the influence of the environment and other factors, wherein the flying speed V refers to the estimated set flying speed of the unmanned aerial vehicle:
and calculating the expected heading angle and the actual flying heading angle of the low-slow small target.
And adjusting the distance deviation from the deception track to a low-slow small target preset track according to the angle deviation, and calculating the specific position of the deception signal track according to the distance deviation.
The invention adopts PID control algorithm based on BP neural network setting to obtain the value of distance deviation.
Outputting a control quantity by using a PID control algorithm based on BP neural network setting;
and obtaining the value of the optimal distance deviation according to the control quantity, and further calculating the distance of the low-slow small target preset track at the next moment after optimization.
The method for outputting the control quantity by using the PID control algorithm based on the BP neural network setting comprises the following specific steps:
determining the structure of a BP network, determining the number M of nodes of an input layer and the number Q of nodes of a hidden layer, and selecting learning efficiency and an inertia coefficient;
calculating to obtain an expected course angle and an actual flight course angle according to the monitored target position information, and calculating the angle deviation at the moment;
determining an input variable of a neural network input layer;
calculating input variables of neurons in each layer of a neural network algorithm, and calculating output variables of the neural network;
calculating the control quantity of the PID controller;
and (4) carrying out neural network learning, adjusting weighting coefficients of the hidden layer and the output layer of the network on line, realizing the self-adaptive adjustment of PID control parameters, and outputting the adjusted weighting coefficients.
The algorithm gradually reduces the deviation of the target expected course angle and the actual flying course angle by continuously adjusting the deception track coordinate, and finally keeps consistent, namely, the target can fly along the designated area and then reach the designated area.
Generating a GPS deception signal according to deception track information, deception speed and the GPS signal transmitted by the ground station in real time;
generating the GPS spoof signal includes: the signal power and doppler frequency of the spoofed signal are calculated, and the code phase delay compensation is estimated.
The signal power P of the deception signal is calculated1The specific process is as follows:
P1＝A2/2
wherein A is a signal amplitude resolved by the received GPS signal.
The Doppler frequency is calculated as follows:
according to the navigation message, the position and the speed of each current satellite are calculated;
calculating the Doppler frequency of the navigation signal transmitter relative to the satellite motion, the low-slow small target relative to the satellite motion and the low-slow small target relative to the local motion;
when a deception signal is generated at a deception initial stage, calculating the Doppler offset to be added;
after the spoof signal successfully invades the low-slow small target, the Doppler offset which needs to be added when the spoof signal is generated is calculated.
The estimating of the code phase delay compensation comprises:
and calculating the distance between the satellite and the low-slow small target and the distance between the local and the low-slow small target according to the positions of the satellite, the local and the low-slow small target.
And calculating the transmission time of the GPS signal from the satellite to the low-slow small target according to the distance between the satellite and the low-slow small target, the ionosphere propagation delay, the troposphere propagation delay, the satellite clock error and the relativistic effect error.
The GPS real signal arrives at the GPS receiver from the GPS satellite, generates a deception signal through the navigation signal simulator, then is locally transmitted to a low-speed small target, and the time T consumed in the process is calculated.
And calculating the code phase delay compensation required by generating a deception signal in the initial deception stage according to the transmission time T of the GPS signal from the satellite to the low-slow small target and the time T.
After the spoofed signals successfully invade the low-slow small target, the distance from each satellite to the spoofed position S is calculated under the condition that the coordinates of the spoofed position S are known, and then the propagation time from each satellite signal to the spoofed position S is calculated.
The embodiment of the application also provides a deception trajectory generation system for intercepting the autonomous flying low-slow small target, wherein the detection system is used for completing the detection and positioning of the low-slow small target and transmitting the position and the speed of the low-slow small target to the ground station in real time;
the ground station calculates a deception signal track and a deception speed for inducing the low-slow small target to reach the designated area position in real time according to the designated area position finally reached by the low-slow small target and the position and the speed of the low-slow small target transmitted in real time, transmits the track information and the deception speed to the navigation signal simulator in real time, and transmits the position information of the low-slow small target to the navigation signal transmitter;
the GPS receiver is used for receiving GPS signals transmitted by GPS satellites, transmitting various information of current satellites and the position speed of the current GPS receiver into the navigation signal simulator in real time, and transmitting the position information of the GPS receiver into the navigation signal transmitter to be approximately used as the position information of the navigation signal transmitter;
the navigation signal simulator generates a GPS deception signal according to the deception track information and the deception speed transmitted by the ground station in real time and the information transmitted by the GPS receiver in real time, and transmits the GPS deception signal to the navigation signal transmitter in real time;
and the navigation signal transmitter receives the GPS deception signal transmitted by the navigation signal simulator in real time and transmits the power-adjusted GPS deception signal to a low-speed small target.
The method for adjusting the power of the GPS spoofing signal after adjusting the power comprises the following steps: and calculating the distance between the low-slow small target position and the navigation signal transmitter position according to the low-slow small target position and the navigation signal transmitter position, and further adjusting the power of the GPS deception signal in real time.
The various information of the current satellites includes: GPS signal emission time, transmission time, navigation message and signal amplitude.
And calculating corresponding code phase delay compensation at the moment according to the propagation time from each satellite signal to the deception position S.
The trajectory planning algorithm in the present application has several applicable preconditions, which are as follows:
(1) the included angle between the connecting line of the cheating starting point O and the first actual position point of the target and the preset flight path of the low-slow small target is less than 90 degrees;
(2) an included angle between a connecting line of the deception starting point O and the center of the designated landing area and the preset flight path of the low-slow small target is less than 90 degrees;
(3) in the autonomous flight process, when the target does not reach the current waypoint, the target does not fly to the next waypoint;
(4) assuming that the height of the target is basically kept unchanged in the autonomous flight process, and not considering the change of the height direction, the deceptive height is made to be a certain constant value, and only considering the track information of a two-dimensional plane;
the embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects:
the method is based on a generating type deception jamming method, uses a PID control algorithm based on BP neural network setting, calculates the distance variation in real time according to the deviation of a target expected course angle and an actual flying course angle, and then generates a deception track. And receiving the deception track navigation signal to position the low-slow small target, continuously adjusting the flight course of the low-slow small target, and finally reaching the position of the designated area.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a flowchart of a spoofing trajectory generating method for intercepting autonomous flying small low-slow targets according to an embodiment of the present invention;
FIG. 2 is a flowchart of an algorithm for calculating a spoofed signal trace in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of an algorithm interception trajectory for calculating a spoofed signal trajectory according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating Doppler effect during the initial spoofing phase in accordance with an embodiment of the present invention;
FIG. 5 is a diagram illustrating the Doppler effect after invading a small slow target in accordance with an embodiment of the present invention;
FIG. 6 is a flow chart of calculating a Doppler frequency according to an embodiment of the invention;
FIG. 7 is a schematic diagram of a spoofing scenario in accordance with an embodiment of the present invention;
FIG. 8 is a flow chart of estimating code phase delay compensation according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a system composition of a spoofing trajectory generating algorithm for intercepting autonomous flying small low-slow targets according to an embodiment of the present invention.
Wherein, 1-low slow small target autonomous flight preset track, 2-deception track, 3-low slow small target actual flight track, 4-appointed arrival area center position M, 5-deception starting point O, 6-deception track position point (X)s,Ys) 7-Low slow Small target actual position (X)a,Ya) 8-Low slow small target waypoint location H.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
The embodiment of the application provides a deception trajectory generation method for intercepting autonomous flight low-slow small targets, which specifically includes the following steps as shown in fig. 1:
assuming that the detection system returns the position and speed information of the target once every 100ms, considering that the low and slow small target speed is below 50m/s, the general speed is below 25m/s, and the maximum flight distance of the target is 5m and below 2.5m every 100ms, the target is considered to fly in a straight line between every two adjacent points for simplifying the algorithm.
The low-slow small target generally flies in a straight line at an approximately constant speed between two waypoints;
step S1: before transmitting deception signals, the detection system is used for completing the detection and positioning of the low-slow small target, and the position and the speed of the low-slow small target are transmitted to the ground station in real time; and the GPS receiver is used for receiving GPS signals transmitted by the GPS satellites, transmitting the calculated GPS signal transmitting time, transmission time, navigation messages, signal amplitude and the current position speed of the GPS receiver of each satellite to the navigation signal simulator in real time, and transmitting the position information of the GPS receiver to the navigation signal transmitter to be approximately used as the position information of the navigation signal transmitter.
Step S2: calculating a deception signal track and a deception speed in real time by using the ground station according to the position of the designated area and the position and the speed of the low-slow small target transmitted in real time, and transmitting the track information and the deception speed to a navigation signal simulator in real time; and simultaneously transmitting the position information of the low-slow small target into the navigation signal transmitter.
Step S3: and generating a GPS deception signal by using the navigation signal simulator according to the deception track information and the deception speed transmitted by the ground station in real time and the information transmitted by the GPS receiver in real time, and transmitting the GPS deception signal to a navigation signal transmitter in real time.
Step S4: using the navigation signal transmitter to receive GPS deception signals transmitted by a navigation signal simulator in real time, calculating the distance r between the low-slow small target position and the navigation signal transmitter position according to the low-slow small target position and the navigation signal transmitter position, and using a free space propagation attenuation formula
Obtaining free space propagation loss LSAnd the lambda is the wavelength of the GPS signal, so that the power of the GPS deception signal is adjusted in real time, the signal power is about 30dB higher than the real signal power when the GPS deception signal reaches the low-slow small target, and the GPS deception signal after the power adjustment is transmitted to the low-slow small target.
In step S2, the specific algorithm for calculating the spoofed signal trajectory in real time is: based on a low-slow small autonomous flight control principle, the distance from the deception track to the low-slow small target preset track is adjusted according to the angle deviation by comparing the deviation between the low-slow small target expected course angle and the actual flight course angle in real time, and the specific position of the deception track is calculated according to the distance. The invention uses a PID control algorithm based on BP neural network setting to calculate the distance variation in real time, and realizes the adjustment control of the flight trajectory of the low-slow small target, so that the low-slow small target which performs autonomous flight can reach the position of a designated area. As shown in fig. 2, the specific steps are as follows:
step S2.1: according to the position and speed of the low-slow small target transmitted to the ground station in real time, carrying out track fitting and estimating the preset flight course l of the targetoAnd the flying speed V, the deceptive track speed VspIs the same as the velocity V;
the flying height and speed of the unmanned aerial vehicle are generally set when the unmanned aerial vehicle flies in a preset track, but the actual flying speed is changed continuously in the actual flying process due to the influence of the environment and other factors, and the flying speed V refers to the estimated set flying speed of the unmanned aerial vehicle.
Step S2.2 calculating Low-slow Small target desired heading Angle βkAnd actual flight heading angle αk。
Let us assume at tkThe actual positions of the low-slow small targets are
The spoofing position is
And (X)M,YM) Two points connecting line andois βk，βkFor low slow small target desired heading angles,
and
two points connecting line andois αk，αkApproximately regarded as the actual flight heading angle of the low-slow small target, as shown in fig. 3.
S2.3, adjusting the distance deviation delta d from the deception track to the low-slow small target preset track according to the size of the angle deviation e (k)kCalculating the specific position of the deception signal track according to the distance deviation;
spoofing location
To loA distance of dkBy varying d, the distance of the predetermined trajectory to the slow small target for the deceptive trajectorykTo change the flight heading of low-slow small targets. Order:
e(k)＝βk-αk(1)
dk+1＝dk+Δdk(2)
in obtaining low-slow small target position information
Thereafter, α are calculatedk and βkComparison α ofkAnd βkAccording to the magnitude of the angle deviation e (k), adjusting the distance deviation delta dkSuch that the angular deviation gradually decreases; in the calculation to obtain dk+1After that, we obtained:
wherein D is tkTo tk+1The variation distance of the cheating track in the time interval can be obtained by the equation (3) and the size of D
The value of (c). In obtaining a spoof location
Then, connect
And
the specific location of the deception trajectory in the 100ms time is obtained.
And step 2.4, judging whether the area reaches the designated area or not, if not, repeating the step 2 to the step 3, and if the area reaches the designated area, stopping calculating the deception signal track in real time.
From step S2.3, Δ d is obtainedkAfter the value of (3), the position information of each moment of the deception trajectory can be calculated. The invention adopts PID control algorithm based on BP neural network setting to obtain delta dkThe value of (c).
Step S2.3.1, outputting a control quantity du (k) by using a PID control algorithm based on BP neural network setting;
s2.3.2, obtaining the optimal distance deviation delta d according to the control quantity du (k)kThen the distance d of the low-slow small target preset track at the next moment after optimization is calculatedk+1。
The calculation formula is as follows:
Δdk＝-du(k) (6)
the step S2.3.1 includes the following steps:
step S2.3.1.1: determining the structure of a BP network, determining the number M of nodes of an input layer and the number Q of nodes of a hidden layer, selecting learning efficiency and an inertia coefficient, and giving an initial value of a weighting coefficient of each layer if k is 1 at an initial moment; if the weighting coefficients are adjusted at other moments, the adjusted weighting coefficients are used;
s2.3.1.2 calculating β according to the monitored target position informationk and αkAnd calculating the angular deviation e (k) at the moment;
step S2.3.1.3: determining an input variable of a neural network input layer;
step S2.3.1.4: calculating input variables of neurons in each layer of neural network algorithm, and calculating output variable K of neural networkp、Ki、Kd；
Step S2.3.1.5: calculating the control quantity u (k) and du (k) of the PID controller;
the calculation formula is as follows:
du(k)＝Kp(e(k)-e(k-1))+Kie(k)+Kd(e(k)-2e(k-1)+e(k-2)) (4)
u(k)＝u(k-1)+du(k) (5)
step S2.3.1.6: and (4) carrying out neural network learning, adjusting weighting coefficients of the hidden layer and the output layer of the network on line, realizing the self-adaptive adjustment of PID control parameters, and outputting the adjusted weighting coefficients. Since the neural network learning process is a classical algorithm, and the adjustment process of the weighting coefficients belongs to the conventional steps of the classical algorithm, which is not an innovation of the present application, the present embodiment is not described in detail.
The algorithm gradually reduces the deviation between the target expected course angle and the actual flying course angle by continuously adjusting the deception track coordinate, and finally keeps consistent, so that the target can fly along the designated area and then reach the designated area.
The GPS deception signal is generated in the navigation signal simulator, the power, Doppler frequency and code phase delay compensation of the GPS deception signal are mainly estimated, and the GPS deception signal is generated according to a GPS signal structure by combining with the existing navigation message. The signal power, Doppler frequency and code phase delay compensation estimation method of the GPS deception signal comprises the following steps:
1. guide tubeOutput signal power P of navigation signal simulator1And (3) estimating:
P1＝A2/2 (7)
wherein A is a signal amplitude calculated by the GPS signal received by the GPS receiver.
2. Doppler frequency estimation:
the Doppler effect diagram in the initial stage of deception is shown in FIG. 4, and the Doppler effect diagram after invading a small slow target is shown in FIG. 5:
the doppler frequency estimation procedure is as follows, as shown in fig. 6:
step S3.101: and according to the navigation message of the GPS receiver, the current position and speed of each satellite are calculated.
The navigation signal simulator receives the navigation message from the GPS receiver and calculates the current position (X) of each satellitei,Yi,Zi) Velocity ViThe position speed of the GPS receiver is the same as the position speed of the navigation signal transmitter, and the position speed is respectively (X)s,Ys,Zs) and VsThe speed of the low-slow small target is Va，
Representing the cosine of the direction of the navigation signal transmitter to the satellite,
respectively represent unit vectors in XYZ directions in the WGS-84 coordinate system:
step S3.102: and calculating the Doppler frequency of the navigation signal transmitter relative to the satellite motion, the low slow small target relative to the satellite motion and the low slow small target relative to the navigation signal transmitter motion.
The Doppler frequencies of the low-slow small target relative to the satellite motion and the relative navigation signal transmitter obtained by the same method are respectively as follows:
step S3.104: after the spoof signal successfully invades the low-slow small target, the Doppler offset which needs to be added when the spoof signal is generated is calculated.
In the initial stage of fraud, it is satisfied that:
then the doppler offset that needs to be added when generating the spoofed signal is:
when the deception signal invades the small low-slow target, the target receives the deception signal for positioning, and the deception signal generates corresponding deception speed V according to the interception requirementspWith a deceptive track, so when the target receiver resolves to a velocity VspWhen the carrier doppler frequency of the corresponding received deception signal is:
in this case, when generating the spoofed signal, the doppler shift amount to be added is:
3. code phase delay compensation estimation:
assuming a spoofing scenario as shown in fig. 7, the estimation procedure for code phase delay compensation is as follows, as shown in fig. 8:
step S3.201: and calculating the distance between the satellite and the low-slow small target and the distance between the navigation signal transmitter and the low-slow small target according to the positions of the satellite, the navigation signal transmitter and the low-slow small target.
Step S3.202: calculating the transmission time t of the GPS signal from the satellite to the low-slow small target according to the distance between the satellite and the low-slow small target, the ionosphere propagation delay, the troposphere propagation delay, the satellite clock error and the relativistic effect errorai。
The velocity and position of each satellite, GPS receiver, navigation signal transmitter, and low-slow small target are known. Calculating the distance r between the obtained satellite and the low-slow small targetaiTaking into account ionospheric propagation delay deltationoTropospheric propagation delay deltattropClock difference delta t of satellitetAnd relativistic effect error deltaTrThe influence on the signal propagation time is that the transmission time of the GPS signal from the satellite to the low-slow small target is obtained as follows:
wherein ,raiThe distance from the satellite to the low-slow small target is represented, in a small range, the ionosphere propagation delay, the troposphere propagation delay and the relativistic effect error of the GPS signal reaching the low-slow small target are considered to be the same as the delays reaching the GPS receiver, the satellite clock difference is kept unchanged in a short time, and the ionosphere propagation delay, the troposphere propagation delay, the satellite clock difference and the relativistic effect error can be calculated from a navigation message transmitted by the GPS receiver to obtain delta tiono、δttrop、δtt and δTrThe size of (2).
Step S3.203: the GPS real signal arrives at the GPS receiver from the GPS satellite, generates a deception signal through the navigation signal simulator, then is transmitted to a low-speed small target through the navigation signal transmitter, and the time T consumed in the process is calculated.
The GPS real signal arrives at the GPS receiver from the satellite, generates a deception signal through the navigation signal simulator and then is transmitted to a low-slow small target through the navigation signal transmitter, and the time consumed in the process is as follows:
wherein ,tdealRepresenting the processing time, t, between the reception of a true signal from a GPS receiver and the transmission of a spoofed signal by a navigation signal transmittersiRepresenting the transmission time of a real signal from a satellite to a GPS receiver, transmitted by the GPS receiver to a navigation signal simulator, and r representing the distance between a navigation signal transmitter and a low-slow small target.
Step S3.204: according to the transmission time t of the GPS signal from the satellite to the low-slow small targetaiAnd calculating the code phase delay compensation required by generating a deception signal in the deception initial stage along with the time T.
In the initial stage of spoofing, the code phase offsets of the spoofed signal and the real signal need to be approximately equal, and as can be seen from equations (17) and (18), when the spoofed signal is generated, the required code phase delay compensation is:
step S3.205: after the spoofed signals successfully invade the low-slow small target, the distance from each satellite to the spoofed position S is calculated under the condition that the coordinates of the spoofed position S are known, and then the propagation time from each satellite signal to the spoofed position S is calculated.
Step S3.206: and under the condition that the coordinates of the deception position S are known, calculating corresponding code phase delay compensation at the moment according to the propagation time from each satellite signal to the deception position S.
After the GPS deception signal successfully invades the low-slow small target, the positioning position of the deception signal is gradually changed, so that the positioning position S of the low-slow small target gradually deviates from the actual position of the low-slow small target. At known spoofing locationsIn the case of S coordinates, the distance r from each satellite to the spoofed location S can be calculateda'iThen, propagation time t 'from each satellite signal to the spoofed position S can be calculated from equation (17)'aiNamely:
then the corresponding code phase delay compensation at this time becomes:
where c is the speed of light.
An embodiment of the present application further provides a spoofing trajectory generating system for intercepting a small autonomous-flight low-slow target, as shown in fig. 9, including: the system comprises a detection system, a ground station, a GPS receiver, a navigation signal simulator and a navigation signal transmitter;
the GPS receiver, the navigation signal simulator and the navigation signal transmitter have a real-time information transfer relationship, and the navigation signal simulator and the navigation signal transmitter have a real-time information transfer relationship.
The detection system completes the detection and positioning of the low and slow small targets and transmits the positions and the speeds of the low and slow small targets to the ground station in real time.
And the ground station calculates the deception signal track and the deception speed in real time according to the position of the designated area and the position and the speed of the low and slow small targets transmitted in real time, transmits the track information and the deception speed to the navigation signal simulator in real time, and transmits the position information of the low and slow small targets to the navigation signal transmitter.
The GPS receiver is used for receiving GPS signals transmitted by GPS satellites, transmitting the GPS signal transmitting time, the navigation message, the signal amplitude and the position speed of the current GPS receiver of each current satellite into the navigation signal simulator in real time, and transmitting the position information of the GPS receiver into the navigation signal transmitter to be approximately used as the position information of the navigation signal transmitter.
The navigation signal simulator generates a GPS deception signal according to the deception track information and the deception speed transmitted by the ground station in real time and the information transmitted by the GPS receiver in real time, and transmits the GPS deception signal to the navigation signal transmitter in real time.
The navigation signal transmitter receives GPS deception signals transmitted by the navigation signal simulator in real time, calculates the distance between the low-slow small target position and the navigation signal transmitter position according to the low-slow small target position and the navigation signal transmitter position, further adjusts the power of the GPS deception signals in real time, and transmits the GPS deception signals after the power adjustment to the low-slow small target.
It should also be noted that 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 an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A deception trajectory generation method for intercepting autonomous flight low-slow small targets is characterized by comprising the following steps:
calculating a deception signal track and a deception speed for inducing the low-slow small target to reach the designated area position in real time according to the designated area position finally reached by the low-slow small target and the position and speed of the low-slow small target transmitted in real time;
and the deception signal track is subjected to distance deviation from the deception track to a low-slow small target preset track through calculating the difference value between the expected course angle and the actual flying course angle, so that the specific position of the deception signal track is obtained.
2. The spoof track generating method for intercepting autonomous flying low-slow small targets of claim 1 wherein:
and obtaining the value of the distance deviation by adopting a PID control algorithm based on BP neural network setting, and the specific steps are as follows:
outputting a control quantity by using a PID control algorithm based on BP neural network setting;
and obtaining the value of the optimal distance deviation according to the control quantity, and further calculating the distance of the low-slow small target preset track at the next moment after optimization.
3. A spoof track generating method for intercepting autonomous flying low-slow small targets according to claim 2, characterized in that:
the method for outputting the control quantity by using the PID control algorithm based on the BP neural network setting comprises the following specific steps:
determining the structure of a BP network, determining the number M of nodes of an input layer and the number Q of nodes of a hidden layer, and selecting learning efficiency and an inertia coefficient;
calculating to obtain an expected course angle and an actual flight course angle according to the monitored target position information, and calculating the angle deviation at the moment;
determining an input variable of a neural network input layer;
calculating input variables of neurons in each layer of a neural network algorithm, and calculating output variables of the neural network;
calculating the control quantity of the PID controller;
and (4) carrying out neural network learning, adjusting weighting coefficients of the hidden layer and the output layer of the network on line, realizing the self-adaptive adjustment of PID control parameters, and outputting the adjusted weighting coefficients.
4. The spoof track generating method for intercepting autonomous flying low-slow small targets of claim 1 wherein:
generating a GPS deception signal according to deception track information, deception speed and the GPS signal transmitted by the ground station in real time;
generating the GPS spoof signal includes: the signal power and doppler frequency of the spoofed signal are calculated, and the code phase delay compensation is estimated.
5. The spoof track generating method for intercepting autonomous flying low-slow small targets of claim 4 wherein:
signal power P of the spoofed signal1Comprises the following steps:
P1＝A2/2
where a is the signal amplitude resolved by the received GPS signal.
6. The spoof track generating method for intercepting autonomous flying low-slow small targets of claim 4 wherein:
the Doppler frequency is calculated as follows:
according to the navigation message, the position and the speed of each current satellite are calculated;
calculating the Doppler frequency of the local relative satellite motion, the low-slow small target relative satellite motion and the low-slow small target relative local motion;
when a deception signal is generated at a deception initial stage, calculating the Doppler offset to be added;
after the spoof signal successfully invades the low-slow small target, the Doppler offset which needs to be added when the spoof signal is generated is calculated.
7. The spoof track generating method for intercepting autonomous flying low-slow small targets of claim 4 wherein:
the estimating of the code phase delay compensation comprises:
calculating the distance between the satellite and the low-slow small target and the distance between the local satellite and the low-slow small target according to the positions of the satellite, the local satellite and the low-slow small target;
calculating the transmission time of the GPS signal from the satellite to the low-slow small target according to the distance between the satellite and the low-slow small target, the ionosphere propagation delay, the troposphere propagation delay, the satellite clock error and the relativistic effect error;
the GPS real signal arrives at the local by a GPS satellite, generates a deception signal by a navigation signal simulator and then is transmitted to a low-speed small target by the local, and the time T consumed in the process is calculated;
calculating code phase delay compensation required when a deception signal is generated at a deception initial stage according to the transmission time T of the GPS signal from the satellite to the low-slow small target and the time T;
after the deception signal successfully invades the low-slow small target, under the condition that the coordinates of the deception position S are known, the distance from each satellite to the deception position S is calculated, and then the propagation time from each satellite signal to the deception position S is calculated;
and calculating corresponding code phase delay compensation at the moment according to the propagation time from each satellite signal to the deception position S.
8. A system for intercepting a deception trajectory generation method of an autonomous flying low-slow small target based on claims 1-7 is characterized by comprising the following steps: the system comprises a detection system, a ground station, a GPS receiver, a navigation signal simulator and a navigation signal transmitter;
the detection system completes the detection and positioning of the low and slow small targets and transmits the positions and the speeds of the low and slow small targets to the ground station in real time;
the ground station calculates a deception signal track and a deception speed for inducing the low-slow small target to reach the designated area position in real time according to the designated area position finally reached by the low-slow small target and the position and the speed of the low-slow small target transmitted in real time, transmits the track information and the deception speed to the navigation signal simulator in real time, and transmits the position information of the low-slow small target to the navigation signal transmitter;
the GPS receiver is used for receiving GPS signals transmitted by GPS satellites, transmitting various information of current satellites and the position speed of the current GPS receiver into the navigation signal simulator in real time, and transmitting the position information of the GPS receiver into the navigation signal transmitter to be approximately used as the position information of the navigation signal transmitter;
the navigation signal simulator generates a GPS deception signal according to the deception track information and the deception speed transmitted by the ground station in real time and the information transmitted by the GPS receiver in real time, and transmits the GPS deception signal to the navigation signal transmitter in real time;
and the navigation signal transmitter receives the GPS deception signal transmitted by the navigation signal simulator in real time and transmits the power-adjusted GPS deception signal to a low-speed small target.
9. A spoof track generating system for intercepting autonomous flying low-slow small targets as recited in claim 8 wherein:
the method for adjusting the power of the GPS spoofing signal after adjusting the power comprises the following steps: and calculating the distance between the low-slow small target position and the navigation signal transmitter position according to the low-slow small target position and the navigation signal transmitter position, and further adjusting the power of the GPS deception signal in real time.
10. A spoof track generating system for intercepting autonomous flying low-slow small targets as recited in claim 8 wherein: the various information of the current satellites includes: GPS signal emission time, transmission time, navigation message and signal amplitude.
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