CN112114336A - Satellite navigation deception signal defense system and method - Google Patents
Satellite navigation deception signal defense system and method Download PDFInfo
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- CN112114336A CN112114336A CN202010777016.9A CN202010777016A CN112114336A CN 112114336 A CN112114336 A CN 112114336A CN 202010777016 A CN202010777016 A CN 202010777016A CN 112114336 A CN112114336 A CN 112114336A
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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
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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
- G01S19/14—Receivers specially adapted for specific applications
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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
- G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
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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
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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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
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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Abstract
The invention discloses a satellite navigation deception signal defense system and a method, which relate to the technical field of satellite navigation deception signal defense, in particular to a satellite navigation deception signal defense system, comprising: the satellite navigation deception signal defense system monitors satellite navigation signals received by an antenna in real time through the signal switching unit, and the standby navigation signal generating unit is used for backing up clock, position and speed data; and when the satellite navigation signal is a deception signal, a path from an antenna receiving signal to the navigation receiver is blocked, and the satellite navigation standby signal is generated through the standby navigation signal generating unit, so that the navigation receiver continues to work under the guidance of the standby navigation signal. The invention also provides a satellite navigation deception signal defense method which comprises the steps of receiving the satellite navigation signals, identifying the satellite navigation signals, switching the navigation signal sources and navigating.
Description
Technical Field
The invention relates to the technical field of satellite navigation deception signal defense, in particular to a satellite navigation deception signal defense system and a satellite navigation deception signal defense method.
Background
A Global Navigation Satellite System (GNSS) is a system that provides users with all-weather functions of positioning, navigation, time service, etc. by using orbiting satellites on the surface of the earth or in the near-earth space. At present, four common global satellite navigation systems including a GPS, a Beidou, a Glonass and a Galileo are widely applied to the fields of military, civil aviation, navigation, accurate weapon guidance, navigation and positioning, electric power, finance, high-speed rail, communication and the like.
Since the global satellite navigation system generally adopts a fixed modulation mode and a broadcasting mode to propagate signals, and the signal power after reaching the ground is very weak, the GNSS receiver is easily interfered when receiving satellite signals. Currently, common satellite navigation jamming methods include: jamming and spurious signal jamming. The basic principle of the suppression type interference is that a signal generating device is used for generating a high-power electromagnetic wave signal to block a satellite navigation channel of a GNSS receiver, so that the positioning, navigation and time service functions of the GNSS navigation receiver are disordered or invalid. The suppression type interference mode is simple to implement, but interference signals with high power are easy to detect by the GNSS receiver, and interference can be eliminated through a signal processing technology.
Compared with the suppression type interference, the false signal type interference is more concealed and more destructive. The basic principle of false signal type interference is that a satellite navigation false signal of any specified position, speed and time is generated by simulating information such as satellite orbit, navigation message, observation data and the like of a real GNSS constellation. Then amplifying the power of the false signal to 4dB to 10dB higher than that of a real satellite navigation signal through a power amplifier, radiating the false signal through an antenna, blocking the real satellite navigation signal in the sky, invading a GNSS receiver in an area, injecting a signal simulating a position, a speed or a time parameter into the GNSS receiver, and realizing the satellite navigation false signal.
Therefore, compared with a suppression type interference mode, the false signal interference mode can prevent the GNSS receiver from detecting the interference of the GNSS receiver, the attack mode is more hidden, the damaged GNSS receiver can generate wrong positioning, position and time results, and further disastrous results can be generated on social life and military satellite navigation application.
Disclosure of Invention
The invention provides a satellite navigation deception signal defense system and a satellite navigation deception signal defense method, which are used for solving the problem that a satellite navigation receiving system is easily interfered by deception signals in the prior art.
The invention adopts the following technical scheme:
a satellite navigation spoofing signal defense system comprising: the navigation signal receiving unit, the signal switching unit, the standby navigation signal generating unit and the navigation receiver;
the navigation signal receiving unit is used for receiving a satellite navigation signal from a navigation satellite, the standby navigation signal generating unit is used for backing up the satellite navigation signal from the navigation signal receiving unit and generating a standby navigation signal, the signal switching unit is used for monitoring the integrity and the authenticity of the satellite navigation signal from the navigation signal receiving unit, the signal switching unit is also used for switching the navigation signal supplied to the navigation receiver according to the integrity and the authenticity of the satellite navigation signal, the navigation receiver is used for giving navigation information according to the received navigation signal, and the navigation signal is the satellite navigation signal or the standby navigation signal;
the navigation signal receiving unit is provided with an output end, the signal switching unit is provided with an input end, a satellite navigation signal backup output end, a navigation signal output end and a control end, the standby navigation signal generating unit is provided with an input end, a control end and an output end, and the navigation receiver is provided with an input end;
the navigation signal receiving unit output end and the standby navigation signal generating unit output end are respectively electrically connected with the signal switching unit input end, the standby navigation signal generating unit input end is electrically connected with the signal switching unit satellite navigation signal backup output end, the signal switching unit navigation signal control end is electrically connected with the standby navigation signal control end, and the signal switching unit navigation signal output end is electrically connected with the navigation receiver input end.
Further, the signal switching unit includes: the satellite navigation signal detection module, the first on-off control module and the second on-off control module;
the satellite navigation signal detection module is used for monitoring the integrity and the authenticity of the satellite navigation signal from the navigation signal receiving unit, and is also used for controlling the first on-off control module and the second on-off control module according to the integrity and the authenticity of the satellite navigation signal, wherein the first on-off control module is used for on-off controlling the satellite navigation signal transmitted to the standby navigation signal generating unit, and the second on-off control module is used for on-off selecting the navigation signal transmitted to the navigation receiver;
the satellite navigation signal detection module is provided with an input end, a first control end, a second control end and a third control end, and the second on-off control module is provided with a first input end, a second input end, a control end and an output end;
the input end of the first on-off control module is electrically connected with the output end of the navigation signal receiving unit, the output end of the first on-off control module is electrically connected with the input end of the standby navigation signal generating unit, the control end of the first on-off control module is electrically connected with the first control end of the satellite navigation signal detecting module, the first input end of the second on-off control module is electrically connected with the navigation signal receiving unit, the second input end of the second on-off control module is electrically connected with the output end of the standby navigation signal generating unit, the control end of the second on-off control module is electrically connected with the second control end of the satellite navigation signal detecting module, the output end of the second on-off control module is electrically connected with the input end of the navigation receiver, and the input end of the satellite navigation signal detecting module is electrically connected with the output, and the third control end of the satellite navigation signal detection module is used for controlling the standby navigation signal generation unit to generate the standby navigation signal.
Further, the standby navigation signal generating unit includes: the device comprises a satellite navigation signal analysis module, a clock module, an inertial navigation module and a navigation signal generation module;
the satellite navigation signal analysis module is used for analyzing a time service signal, a position signal and a speed signal from the satellite navigation signal, the clock module is used for backing up the time service signal and generating a timekeeping signal, the inertial navigation module is used for backing up the position signal and the speed signal, the inertial navigation module is also used for generating a standby position signal and a standby speed signal, and the navigation signal generation module is used for generating the timekeeping signal, the standby position signal and the standby speed signal into a standby navigation signal;
the satellite navigation signal analysis module is provided with an input end, a first output end and a second output end; the clock module is provided with an input end and an output end, the inertial navigation module is provided with an input end and an output end, and the navigation signal generation module is provided with a first input end, a second input end, a control end and an output end;
the input end of the satellite navigation signal analysis module is electrically connected with the output end of the first on-off control module, the first output end of the satellite navigation signal analysis module is electrically connected with the input end of the clock module, the second output end of the satellite navigation signal analysis module is electrically connected with the input end of the inertial navigation module, the output end of the clock module is electrically connected with the first input end of the navigation signal generation module, the output end of the inertial navigation module is electrically connected with the second input end of the navigation signal generation module, the output end of the navigation signal generation module is electrically connected with the second input end of the second on-off control module, and the control end of the navigation signal generation module is electrically connected with the third control end of the satellite navigation signal detection module.
Further, the navigation signal receiving unit includes: the antenna is used for receiving the satellite navigation signals from a navigation satellite and is provided with an output end; the power amplifier is used for carrying out power amplification on the satellite navigation signal transmitted by the antenna and is provided with an input end and an output end; the power divider is used for distributing power of the satellite navigation signals from the power amplifier, and is provided with an input end, a first output end, a second output end and a third output end;
the input end of the power amplifier is electrically connected with the output end of the antenna, the input end of the power divider is electrically connected with the output end of the power amplifier, the first output end of the power divider is electrically connected with the input end of the first on-off control module, the second output end of the power divider is electrically connected with the input end of the satellite navigation signal detection module, and the third output end of the power divider is electrically connected with the first input end of the second on-off control module.
A satellite navigation spoofing signal defense method comprising the steps of:
(1) receiving a satellite navigation signal;
(2) identifying the integrity and authenticity of the satellite navigation signal received in step (1);
(3) if the satellite navigation signal is a perfect real signal, resolving a time service signal, a position signal and a speed signal from the satellite navigation signal, backing up the position signal and the speed signal by an inertial navigation module, backing up the time service signal by a clock module, if the satellite navigation signal is a imperfect signal and/or an imperfect signal, stopping backing up the position signal and the speed signal by the inertial navigation module, stopping backing up the time service signal by the clock module, and generating a standby navigation signal by a navigation signal generating module according to an output signal of the inertial navigation module and an output signal of the clock module;
if the satellite navigation signal is a good real signal, transmitting the satellite navigation signal to a navigation receiver, and if the satellite navigation signal is a bad signal and/or a bad signal, transmitting the standby navigation signal to the navigation receiver;
(4) and the navigation receiver carries out navigation according to the received satellite navigation signal or the standby navigation signal.
Further, the backup navigation signal is at least one of a navigation signal of a simulated GPS, Beidou, Glonass and Galileo satellite navigation system.
The invention has the following positive effects:
the invention discloses a satellite navigation deception signal defense system which comprises a navigation signal receiving unit, a signal switching unit, a standby navigation signal generating unit and a navigation receiver.
The satellite navigation deception signal defense system identifies a satellite navigation signal from the navigation signal receiving unit through the signal switching unit, performs false signal, interference signal and imperfect signal detection on the satellite navigation signal, and transmits the satellite navigation signal acquired from the navigation signal receiving unit to the navigation receiver when the satellite navigation signal is an effective, real and perfect space navigation satellite signal so as to ensure the normal work of the navigation receiver; and controlling the standby signal generating unit to work in a standby mode to perform uninterrupted backup on the satellite navigation signal.
When the satellite navigation signal is changed into at least one of a false signal, an interference signal and an imperfect signal, the signal switching unit cuts off the satellite navigation signal supplied to the navigation receiver and controls the standby navigation signal generating unit to work in an output working mode, the standby navigation signal generating unit generates a standby navigation signal instead, and the signal switching unit transmits the navigation signal generated by the standby navigation signal generating unit to the navigation receiver, so that the navigation receiver can continue navigation under the guidance of the navigation signal generated by the standby navigation receiver, the navigation receiver is ensured not to be deceived by deception signals and/or interference signals, and the normal work of the navigation receiver is ensured.
The signal switching unit comprises a satellite navigation signal detection module, a first on-off control module and a second on-off control module, and the satellite navigation signal detection module identifies the authenticity of the satellite navigation signal by detecting a navigation signal detection principle;
when the satellite navigation signal is a real and complete signal, the first on-off control module is controlled to output an effective satellite navigation signal to the standby navigation signal generation unit, the satellite navigation signal is backed up, the navigation signal generation module is controlled to be in a standby mode, and the second on-off control module is controlled to transmit the satellite navigation signal to the satellite navigation receiver, so that the satellite navigation receiver can normally perform navigation;
when the satellite navigation signal is an invalid signal, the satellite navigation signal provided for the standby navigation signal generating unit is cut off by controlling the first on-off control module, the satellite navigation signal analyzing module is controlled to be in a standby mode, the navigation signal generating module is controlled to be in a working mode, the standby navigation signal is output, the second on-off control module is controlled to transmit the standby navigation signal to the satellite navigation receiver, and the satellite navigation receiver is enabled to navigate under the signal output by the standby navigation module.
The antenna of the navigation signal receiving unit sends the received satellite navigation signal to the power amplifier, the signal amplified by the power amplifier is sent to the power divider, three output ends of the power divider respectively output the signal to the input end of the first on-off control module, the input end of the satellite navigation signal detection module and the input end of the second on-off module, and the power divider is a one-to-three power divider and distributes the power of the satellite navigation signal from the power amplifier, so that the satellite navigation receiver, the signal switching unit and the standby navigation signal generating unit can receive the satellite navigation signal stably and sensitively.
The invention solves the problem of satellite navigation deception signal defense, can automatically detect when an external satellite navigation deception signal invades, cut off a radio frequency circuit, start a backup signal, maintain the normal operation of equipment within a certain time, prevent the equipment from being interfered by false satellite navigation signals, interference signals and imperfect signals, and eliminate great potential safety hazards.
The four modules run independently, the structure is simple, the use is convenient, the maintenance is convenient, and the realization cost is low; the system automatically identifies the authenticity of the satellite navigation signal, can run in an all-weather and automatic way, and does not need human intervention; the system has low energy consumption, can be self-powered through a radio frequency circuit, does not need an additional power supply, and realizes integrated design; the inertial navigation signal and the accurate time service signal can be respectively transmitted aiming at the moving carrier and the fixed carrier, and the normal work can be ensured within a certain time after the deceptive satellite navigation signal is received.
The invention also discloses a satellite navigation deception signal defense method, which identifies the received satellite navigation signal, backs up the satellite navigation signal when the satellite navigation signal is a true signal, and sends the satellite navigation signal to a navigation receiver for navigation, generates a backup navigation signal through an inertial navigation module and a clock module and sends the backup navigation signal to the navigation receiver when the satellite navigation signal is a non-true signal, and the navigation receiver continues navigation under the guidance of the backup navigation signal, thereby solving the problem that the navigation cannot be continued when the satellite navigation signal is interfered and the signal is incomplete.
The invention has stable performance, convenient installation, safety and reliability, and can be widely applied to the fields of military, civil aviation, navigation, accurate weapon guidance, navigation positioning, electric power, finance, high-speed rail, communication and the like.
Drawings
Fig. 1 is a block diagram of a satellite navigation spoofing signal defense system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, a satellite navigation spoofing signal defense system includes: the navigation signal receiving unit, the signal switching unit, the standby navigation signal generating unit and the navigation receiver;
the navigation signal receiving unit is used for receiving a satellite navigation signal from a navigation satellite, the standby navigation signal generating unit is used for backing up the satellite navigation signal from the navigation signal receiving unit and generating a standby navigation signal, the signal switching unit is used for monitoring the integrity and the authenticity of the satellite navigation signal from the navigation signal receiving unit, the signal switching unit is also used for switching the navigation signal supplied to the navigation receiver according to the integrity and the authenticity of the satellite navigation signal, the navigation receiver is used for giving navigation information according to the received navigation signal, and the navigation signal is the satellite navigation signal or the standby navigation signal;
the navigation signal receiving unit is provided with an output end, the signal switching unit is provided with an input end, a satellite navigation signal backup output end, a navigation signal output end and a control end, the standby navigation signal generating unit is provided with an input end, a control end and an output end, and the navigation receiver is provided with an input end;
the navigation signal receiving unit output end and the standby navigation signal generating unit output end are respectively electrically connected with the signal switching unit input end, the standby navigation signal generating unit input end is electrically connected with the signal switching unit satellite navigation signal backup output end, the signal switching unit navigation signal control end is electrically connected with the standby navigation signal control end, and the signal switching unit navigation signal output end is electrically connected with the navigation receiver input end.
More specifically, the satellite navigation spoofing signal is a broad description, and actually includes a satellite navigation false signal, an interference signal and an imperfect signal, and is called an imperfect signal when the satellite navigation signal is the false signal and/or the interference signal, and is called an imperfect signal when the satellite navigation signal is the perfect signal and is neither the false signal nor the interference signal.
The navigation signal receiving unit receives satellite navigation signals from navigation satellites in space, and the satellite navigation signals are amplified by power, so that the satellite navigation receiver can receive the satellite navigation signals with high sensitivity.
The signal switching unit has the functions of monitoring the integrity and authenticity of the satellite navigation signal, switching and supplying the navigation signal to the standby navigation signal generating unit, controlling the standby navigation signal generating unit to generate the standby navigation signal and switching and supplying the navigation signal to the satellite receiver.
The signal switching unit judges the authenticity and the integrity of the satellite navigation signal according to the satellite navigation signal from the navigation signal receiving unit, when the satellite navigation signal is a real space signal and the signal is intact, the signal switching unit respectively sends the satellite navigation signal from the navigation receiving unit to the navigation receiver and the standby navigation signal generating unit, controls the standby navigation signal generating unit to work in a standby working mode, and the standby navigation signal generating unit backs up a time service signal, a speed signal and a position signal in the satellite navigation signal.
When the satellite navigation signal is at least one of a false signal, an interference signal and an imperfect signal, the signal switching unit cuts off the satellite navigation signal supplied to the navigation receiver and the standby navigation signal generating unit, controls the standby navigation signal generating unit to work in an output working mode, at the moment, the standby navigation signal generating unit generates a standby navigation signal, and the signal switching unit sends the standby navigation signal from the standby navigation signal generating unit to the navigation receiver, so that when at least one of the false signal, the interference signal and the imperfect signal invades the satellite navigation receiving unit, the navigation signal is obtained from the standby navigation signal generating unit and sent to the navigation receiver, and the navigation receiver continuously works.
When the standby navigation signal generating unit works in a backup mode, the standby navigation signal generating unit analyzes the satellite navigation signals, and regularly backs up the analyzed position signals, speed signals and time service signals at intervals to ensure that a clock is synchronized with a satellite navigation system in real time; and (3) periodically providing position and speed calibration signals for the inertial navigation module, thereby backing up the accuracy of the clock and the position and speed.
The standby navigation signal generating unit is used for continuously carrying out accumulation calculation by an inertial navigation system to obtain the current movement speed and the current azimuth angle. When the satellite navigation signal is a real space satellite navigation signal, the signal switching unit generates a position signal, a speed signal and a time service signal at regular intervals, and the calibration signal is received by the standby navigation signal generating unit to carry out position deviation correction, speed correction and time service signal correction.
When the received satellite navigation signal is judged to be at least one of a false signal, an interference signal and an imperfect signal by the signal switching unit, the signal switching unit controls the standby navigation signal generating unit to generate a standby navigation signal by an inertial navigation signal and a timekeeping signal in the standby navigation signal generating unit, namely, a position signal, a speed signal and a time service signal generated by a simulated real satellite are sent to the navigation receiver, and the navigation receiver can continuously perform navigation.
The satellite navigation deception signal defense system identifies a satellite navigation signal from the navigation signal receiving unit through the signal switching unit, performs false signal, interference signal and imperfect signal detection on the satellite navigation signal, and transmits the satellite navigation signal acquired from the navigation signal receiving unit to the navigation receiver when the satellite navigation signal is an effective, real and perfect space navigation satellite signal so as to ensure the normal work of the navigation receiver; and controlling the standby signal generating unit to work in a standby mode to perform uninterrupted backup on the satellite navigation signal.
When the satellite navigation signal is changed into at least one of a false signal, an interference signal and an imperfect signal, the signal switching unit cuts off the satellite navigation signal supplied to the navigation receiver and controls the standby navigation signal generating unit to work in an output working mode, the standby navigation signal generating unit generates a standby navigation signal instead, and the signal switching unit transmits the navigation signal generated by the standby navigation signal generating unit to the navigation receiver, so that the navigation receiver can continue navigation under the guidance of the navigation signal generated by the standby navigation receiver, the navigation receiver is ensured not to be deceived by deception signals and/or interference signals, and the normal work of the navigation receiver is ensured.
Further, the signal switching unit includes: the satellite navigation signal detection module, the first on-off control module and the second on-off control module;
the satellite navigation signal detection module is used for monitoring the integrity and the authenticity of the satellite navigation signal from the navigation signal receiving unit, and is also used for controlling the first on-off control module and the second on-off control module according to the integrity and the authenticity of the satellite navigation signal, wherein the first on-off control module is used for on-off controlling the satellite navigation signal transmitted to the standby navigation signal generating unit, and the second on-off control module is used for on-off selecting the navigation signal transmitted to the navigation receiver;
the satellite navigation signal detection module is provided with an input end, a first control end, a second control end and a third control end, and the second on-off control module is provided with a first input end, a second input end, a control end and an output end;
the input end of the first on-off control module is electrically connected with the output end of the navigation signal receiving unit, the output end of the first on-off control module is electrically connected with the input end of the standby navigation signal generating unit, the control end of the first on-off control module is electrically connected with the first control end of the satellite navigation signal detecting module, the first input end of the second on-off control module is electrically connected with the navigation signal receiving unit, the second input end of the second on-off control module is electrically connected with the output end of the standby navigation signal generating unit, the control end of the second on-off control module is electrically connected with the second control end of the satellite navigation signal detecting module, the output end of the second on-off control module is electrically connected with the input end of the navigation receiver, and the input end of the satellite navigation signal detecting module is electrically connected with the output, and the third control end of the satellite navigation signal detection module is used for controlling the standby navigation signal generation unit to generate the standby navigation signal.
More specifically, the signal switching unit includes a satellite navigation signal detection module, a first on-off control module and a second on-off control module, the satellite navigation signal detection module is used for identifying satellite navigation signal false signals, interference signals and imperfect signals from the navigation signal receiving unit, and the judgment principle is various:
power and carrier-to-noise ratio detection principle: the received signal power level is low for receivers receiving at the earth's surface. In order to cover the real satellite navigation signals, the power of the deception signals is larger than the power of the real signals, so that a reasonable upper power limit can be set, and the deception signals are detected and identified by limiting the signal power. The representation of the power measured by the receiver is the sum of the power of the useful signal and the power of the noise. The carrier-to-noise ratio is a quantity representing the relation between the signal power and the noise power, and the authenticity of the satellite navigation signal can be judged by measuring and analyzing the carrier-to-noise ratio.
Angle detection principle at the receiver antenna: also known as the angle of arrival principle, assuming that the spoofing interferer is a single antenna interferer, the angle of directivity of the transmitted spoofing signal at the receiver antenna is the same. Detecting the arrival angles of the received satellite navigation signals by using a plurality of receiver antennas, and judging whether the arrival angles are the same to identify the deception jamming.
Doppler frequency shift detection principle: doppler shift occurs due to the relative motion of the satellites and the satellite navigation receiver. The velocity of the satellite may be obtained from satellite ephemeris data received by the receiver. The received carrier frequency becomes larger as the satellite approaches the receiver and becomes smaller as the satellite moves away from the receiver; the relative motion between the deception satellite navigation generating equipment and the receiver is obviously different from that of a real satellite, and the truth of a satellite navigation signal can be detected by measuring and analyzing the Doppler frequency shift quantity.
The time deviation detection principle is that the basic principle of time consistency monitoring is as follows: the time of the information carried by most deception signals and the time of real signals cannot be synchronized, but deception equipment brings a certain time difference to a deception receiver, and the authenticity of the received satellite signals can be judged by comparing the time difference between a local high-stability and high-accuracy clock and the ephemeris time of the received satellite signals and monitoring the offset.
Radio frequency "fingerprint" feature detection principle: research proves that even radio frequency components produced in the same batch in the same production line have slight difference because the internal frequency source of the transmitter used in satellite navigation is unstable, components formed in the transmitter are nonlinear, and certain process defects exist in the processing and assembling processes of the components. These subtle differences have similar significance to human fingerprint features and are therefore also referred to as radio frequency "fingerprint" features. Techniques for identification using radio frequency "fingerprinting" features are referred to as radio frequency fingerprinting techniques, and may be used to detect the integrity and authenticity of satellite navigation signals.
Basic principle of motion comparison: the position in the navigation information received by the receiver is static or continuously changed, so that when a deceptive navigation signal with a false position is received by the receiver, the position mutation can occur, and the integrity and the authenticity of the satellite navigation signal can be detected by utilizing the principle.
The satellite navigation signal detection module judges the authenticity of the satellite navigation signal according to at least one of the principles, is a system control core module, monitors the integrity and the authenticity of the satellite navigation signal from a receiving antenna in real time, and comprehensively adopts monitoring technologies such as carrier-to-noise ratio monitoring, absolute power monitoring, motion comparison, direction of arrival, signal characteristics and the like to detect the integrity and the authenticity of the signal in real time.
When the satellite navigation signal is normal, the satellite navigation signal detection module controls the first on-off control module to be connected, the satellite navigation signal directly reaches the satellite navigation time service receiver, the satellite navigation signal analysis module is triggered to be in a working mode, and time service signals, position signals and speed signals in the satellite navigation signal are analyzed; the satellite navigation signal detection module controls the second on-off control module, and the satellite navigation signal received by the satellite navigation receiving unit can directly reach the satellite navigation receiver to ensure the normal work of the satellite navigation receiver; the satellite signal detection module controls the navigation signal generation module to be in a standby mode.
When the satellite navigation signal is abnormal, if any one of a false signal, an interference signal and an imperfect signal occurs, the satellite navigation signal detection module controls the first on-off control module to be disconnected, a suspicious satellite navigation signal received by the navigation signal receiving unit is blocked, and the satellite navigation time service receiver is triggered to be in a standby mode; the satellite navigation signal detection module controls the navigation signal generation module to be in an output working mode; the satellite navigation signal detection module controls the second on-off control module, and the backup satellite navigation signal output by the navigation signal generation module can directly reach the receiver. And switching satellite navigation signals to ensure that the satellite receiver works normally in a specified time period.
The signal switching unit comprises a satellite navigation signal detection module, a first on-off control module and a second on-off control module, and the satellite navigation signal detection module identifies the authenticity of the satellite navigation signal by detecting a navigation signal detection principle;
when the satellite navigation signal is a real and complete signal, the first on-off control module is controlled to output an effective satellite navigation signal to the standby navigation signal generation unit, the satellite navigation signal is backed up, the navigation signal generation module is controlled to be in a standby mode, and the second on-off control module is controlled to transmit the satellite navigation signal to the satellite navigation receiver, so that the satellite navigation receiver can normally perform navigation;
when the satellite navigation signal is an invalid signal, the satellite navigation signal provided for the standby navigation signal generating unit is cut off by controlling the first on-off control module, the satellite navigation signal analyzing module is controlled to be in a standby mode, the navigation signal generating module is controlled to be in a working mode, the standby navigation signal is output, the second on-off control module is controlled to transmit the standby navigation signal to the satellite navigation receiver, and the satellite navigation receiver is enabled to navigate under the signal output by the standby navigation module.
Further, the standby navigation signal generating unit includes: the device comprises a satellite navigation signal analysis module, a clock module, an inertial navigation module and a navigation signal generation module;
the satellite navigation signal analysis module is used for analyzing a time service signal, a position signal and a speed signal from the satellite navigation signal, the clock module is used for backing up the time service signal and generating a timekeeping signal, the inertial navigation module is used for backing up the position signal and the speed signal, the inertial navigation module is also used for generating a standby position signal and a standby speed signal, and the navigation signal generation module is used for generating the timekeeping signal, the standby position signal and the standby speed signal into a standby navigation signal;
the satellite navigation signal analysis module is provided with an input end, a first output end and a second output end; the clock module is provided with an input end and an output end, the inertial navigation module is provided with an input end and an output end, and the navigation signal generation module is provided with a first input end, a second input end, a control end and an output end;
the input end of the satellite navigation signal analysis module is electrically connected with the output end of the first on-off control module, the first output end of the satellite navigation signal analysis module is electrically connected with the input end of the clock module, the second output end of the satellite navigation signal analysis module is electrically connected with the input end of the inertial navigation module, the output end of the clock module is electrically connected with the first input end of the navigation signal generation module, the output end of the inertial navigation module is electrically connected with the second input end of the navigation signal generation module, the output end of the navigation signal generation module is electrically connected with the second input end of the second on-off control module, and the control end of the navigation signal generation module is electrically connected with the third control end of the satellite navigation signal detection module.
More specifically, the standby signal generating unit is in the standby operating mode when the satellite navigation signal is a true signal. The satellite navigation signal analysis module works normally, analyzes the satellite navigation signal, provides a high-precision time service signal for the clock module and ensures that the clock is synchronized with the time system of the satellite navigation system in real time; and (3) periodically providing position and speed calibration signals for the inertial navigation module, thereby backing up the accuracy of the clock and the position and speed. The navigation signal generator is in a standby state.
And under the condition that the satellite navigation signal is an invalid signal, the standby signal generating unit is in an output working mode. The satellite navigation signal analysis module is in a standby state, the navigation signal generator is started, and the clock module and the inertial navigation module continuously provide position, speed and time signals for the navigation signal generator. At this time, the spare signal generating unit outputs the satellite navigation signal and maintains sufficient accuracy for a certain time.
The satellite navigation signal analysis module can provide time service data and time service pulses for the clock module in the backup mode; position and speed calibration data can be provided for the inertial navigation module, and initial configuration can be updated for the navigation signal generation module in real time.
The clock module is used for synchronizing the satellite navigation time service clock with high precision when the satellite navigation signal is a real and intact signal; outputting time data and time service pulses to a navigation signal generation module in real time; when the satellite navigation signal is an invalid signal, the satellite navigation signal is in a timekeeping mode, high-precision time service data and pulses can be provided within a certain time, and a high-precision time system basis is provided for the navigation signal generation module to generate the navigation signal.
The inertial navigation module is in a position and speed backup working mode when the satellite navigation signal is a real and complete signal, regularly calibrates the position and the speed, and outputs initial position and speed configuration to the navigation signal generation module in real time; when the satellite navigation signal is invalid, the satellite navigation signal is in a position and speed output working mode, high-precision position and speed data can be provided within a certain time, and a high-precision position and speed basis is provided for the navigation signal generation module to generate the navigation signal.
The navigation signal generation module can simulate the independent or combined navigation signals of satellite navigation systems such as GPS, Beidou, Glonass, Galileo and the like at high precision. The module is controlled by a satellite navigation signal detection module; when the satellite navigation signal is a real intact signal, the navigation signal generation module receives signals of the clock module and the inertial navigation module in real time as initial configuration of signal generation; when the satellite navigation signal is an invalid signal, the navigation signal generation module receives signals of the clock module and the inertial navigation module in real time and serves as a real-time basis for signal generation.
The inertial navigation module is a self-service navigation system which does not depend on any external information and does not radiate energy outwards, an acceleration sensor and a gyroscope are arranged in the inertial navigation module, an acceleration signal and an azimuth angle signal are generated according to the inertial navigation principle, the navigation signal generation module is used for resolving the acceleration signal and the azimuth angle signal from the inertial navigation module and continuously calibrating and finishing the calibration signal, so that course, attitude, speed and position information is provided for a carrier; the calibration signal of the embodiment is from a satellite navigation signal time service receiving module; the time service module also needs to continuously trim the time service signal, is a high-precision and reliable source all the time, such as an atomic clock and a constant-temperature crystal oscillator, can self-calculate and continue the accurate time service signal within a certain time, and can still achieve the high-precision time keeping capability even if the correction of the calibration signal is not obtained within a period of time.
The standby navigation signal generating unit generates a standby navigation signal simulating a satellite navigation signal by depending on the inertial navigation module, the time service module and the navigation signal generating module, the signal does not depend on any external information, does not radiate energy outwards, and can resist cheating signals and/or interference signals from the outside. For the navigation receiver, the signal generated by the standby navigation signal generating unit is not different from the real satellite navigation signal in data format, so the navigation receiver can adopt a universal navigation receiver, and has better universality and interchangeability.
Further, the navigation signal receiving unit includes: the antenna is used for receiving the satellite navigation signals from a navigation satellite and is provided with an output end; the power amplifier is used for carrying out power amplification on the satellite navigation signal transmitted by the antenna and is provided with an input end and an output end; the power divider is used for distributing power of the satellite navigation signals from the power amplifier, and is provided with an input end, a first output end, a second output end and a third output end;
the input end of the power amplifier is electrically connected with the output end of the antenna, the input end of the power divider is electrically connected with the output end of the power amplifier, the first output end of the power divider is electrically connected with the input end of the first on-off control module, the second output end of the power divider is electrically connected with the input end of the satellite navigation signal detection module, and the third output end of the power divider is electrically connected with the first input end of the second on-off control module.
More specifically, the antenna sends the received satellite navigation signal to the power amplifier, the signal amplified by the power amplifier is sent to the power divider, three output ends of the power divider respectively output signals to the input end of the first on-off control module, the input end of the satellite navigation signal detection module and the input end of the second on-off module, and the power divider is a one-to-three power divider and distributes the power of the satellite navigation signal from the power amplifier, so that the satellite navigation receiver, the signal switching unit and the standby navigation signal generating unit can receive the satellite navigation signal stably and sensitively.
A satellite navigation spoofing signal defense method comprising the steps of:
(1) receiving a satellite navigation signal;
(2) identifying the integrity and authenticity of the satellite navigation signal received in step (1);
(3) if the satellite navigation signal is a perfect real signal, resolving a time service signal, a position signal and a speed signal from the satellite navigation signal, backing up the position signal and the speed signal by an inertial navigation module, backing up the time service signal by a clock module, if the satellite navigation signal is a imperfect signal and/or an imperfect signal, stopping backing up the position signal and the speed signal by the inertial navigation module, stopping backing up the time service signal by the clock module, and generating a standby navigation signal by a navigation signal generating module according to an output signal of the inertial navigation module and an output signal of the clock module;
if the satellite navigation signal is a good real signal, transmitting the satellite navigation signal to a navigation receiver, and if the satellite navigation signal is a bad signal and/or a bad signal, transmitting the standby navigation signal to the navigation receiver;
(4) and the navigation receiver carries out navigation according to the received satellite navigation signal or the standby navigation signal.
Further, the backup navigation signal is at least one of a navigation signal of a simulated GPS, Beidou, Glonass and Galileo satellite navigation system.
The embodiments described above are only preferred embodiments of the invention and are not exhaustive of the possible implementations of the invention. Any obvious modifications to the above would be obvious to those of ordinary skill in the art, but would not bring the invention so modified beyond the spirit and scope of the present invention.
Claims (6)
1. A satellite navigation spoofing signal defense system comprising: the navigation signal receiving unit, the signal switching unit, the standby navigation signal generating unit and the navigation receiver;
the navigation signal receiving unit is used for receiving a satellite navigation signal from a navigation satellite, the standby navigation signal generating unit is used for backing up the satellite navigation signal from the navigation signal receiving unit and generating a standby navigation signal, the signal switching unit is used for monitoring the integrity and the authenticity of the satellite navigation signal from the navigation signal receiving unit, the signal switching unit is also used for switching the navigation signal supplied to the navigation receiver according to the integrity and the authenticity of the satellite navigation signal, the navigation receiver is used for giving navigation information according to the received navigation signal, and the navigation signal is the satellite navigation signal or the standby navigation signal;
the navigation signal receiving unit is provided with an output end, the signal switching unit is provided with an input end, a satellite navigation signal backup output end, a navigation signal output end and a control end, the standby navigation signal generating unit is provided with an input end, a control end and an output end, and the navigation receiver is provided with an input end;
the navigation signal receiving unit output end and the standby navigation signal generating unit output end are respectively electrically connected with the signal switching unit input end, the standby navigation signal generating unit input end is electrically connected with the signal switching unit satellite navigation signal backup output end, the signal switching unit navigation signal control end is electrically connected with the standby navigation signal control end, and the signal switching unit navigation signal output end is electrically connected with the navigation receiver input end.
2. The system of claim 1, wherein the signal switching unit comprises: the satellite navigation signal detection module, the first on-off control module and the second on-off control module;
the satellite navigation signal detection module is used for monitoring the integrity and the authenticity of the satellite navigation signal from the navigation signal receiving unit, and is also used for controlling the first on-off control module and the second on-off control module according to the integrity and the authenticity of the satellite navigation signal, wherein the first on-off control module is used for on-off controlling the satellite navigation signal transmitted to the standby navigation signal generating unit, and the second on-off control module is used for on-off selecting the navigation signal transmitted to the navigation receiver;
the satellite navigation signal detection module is provided with an input end, a first control end, a second control end and a third control end, and the second on-off control module is provided with a first input end, a second input end, a control end and an output end;
the input end of the first on-off control module is electrically connected with the output end of the navigation signal receiving unit, the output end of the first on-off control module is electrically connected with the input end of the standby navigation signal generating unit, the control end of the first on-off control module is electrically connected with the first control end of the satellite navigation signal detecting module, the first input end of the second on-off control module is electrically connected with the navigation signal receiving unit, the second input end of the second on-off control module is electrically connected with the output end of the standby navigation signal generating unit, the control end of the second on-off control module is electrically connected with the second control end of the satellite navigation signal detecting module, the output end of the second on-off control module is electrically connected with the input end of the navigation receiver, and the input end of the satellite navigation signal detecting module is electrically connected with the output, and the third control end of the satellite navigation signal detection module is used for controlling the standby navigation signal generation unit to generate the standby navigation signal.
3. The system of claim 2, wherein the backup navigation signal generating unit comprises: the device comprises a satellite navigation signal analysis module, a clock module, an inertial navigation module and a navigation signal generation module;
the satellite navigation signal analysis module is used for analyzing a time service signal, a position signal and a speed signal from the satellite navigation signal, the clock module is used for backing up the time service signal and generating a timekeeping signal, the inertial navigation module is used for backing up the position signal and the speed signal, the inertial navigation module is also used for generating a standby position signal and a standby speed signal, and the navigation signal generation module is used for generating the timekeeping signal, the standby position signal and the standby speed signal into a standby navigation signal;
the satellite navigation signal analysis module is provided with an input end, a first output end and a second output end; the clock module is provided with an input end and an output end, the inertial navigation module is provided with an input end and an output end, and the navigation signal generation module is provided with a first input end, a second input end, a control end and an output end;
the input end of the satellite navigation signal analysis module is electrically connected with the output end of the first on-off control module, the first output end of the satellite navigation signal analysis module is electrically connected with the input end of the clock module, the second output end of the satellite navigation signal analysis module is electrically connected with the input end of the inertial navigation module, the output end of the clock module is electrically connected with the first input end of the navigation signal generation module, the output end of the inertial navigation module is electrically connected with the second input end of the navigation signal generation module, the output end of the navigation signal generation module is electrically connected with the second input end of the second on-off control module, and the control end of the navigation signal generation module is electrically connected with the third control end of the satellite navigation signal detection module.
4. The system of claim 3, wherein the navigation signal receiving unit comprises: the antenna is used for receiving the satellite navigation signals from a navigation satellite and is provided with an output end; the power amplifier is used for carrying out power amplification on the satellite navigation signal transmitted by the antenna and is provided with an input end and an output end; the power divider is used for distributing power of the satellite navigation signals from the power amplifier, and is provided with an input end, a first output end, a second output end and a third output end;
the input end of the power amplifier is electrically connected with the output end of the antenna, the input end of the power divider is electrically connected with the output end of the power amplifier, the first output end of the power divider is electrically connected with the input end of the first on-off control module, the second output end of the power divider is electrically connected with the input end of the satellite navigation signal detection module, and the third output end of the power divider is electrically connected with the first input end of the second on-off control module.
5. A satellite navigation deception signal defense method is characterized by comprising the following steps:
(1) receiving a satellite navigation signal;
(2) identifying the integrity and authenticity of the satellite navigation signal received in step (1);
(3) if the satellite navigation signal is a perfect real signal, resolving a time service signal, a position signal and a speed signal from the satellite navigation signal, backing up the position signal and the speed signal by an inertial navigation module, backing up the time service signal by a clock module, if the satellite navigation signal is a imperfect signal and/or an imperfect signal, stopping backing up the position signal and the speed signal by the inertial navigation module, stopping backing up the time service signal by the clock module, and generating a standby navigation signal by a navigation signal generating module according to an output signal of the inertial navigation module and an output signal of the clock module;
if the satellite navigation signal is a good real signal, transmitting the satellite navigation signal to a navigation receiver, and if the satellite navigation signal is a bad signal and/or a bad signal, transmitting the standby navigation signal to the navigation receiver;
(4) and the navigation receiver carries out navigation according to the received satellite navigation signal or the standby navigation signal.
6. The method of claim 5, wherein the backup navigation signal is at least one of an analog GPS, Beidou, Glonass, and Galileo satellite navigation system navigation signal.
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