CN117434557A - Deception jamming detection method and device and Internet of vehicles system - Google Patents

Deception jamming detection method and device and Internet of vehicles system Download PDF

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Publication number
CN117434557A
CN117434557A CN202311380251.2A CN202311380251A CN117434557A CN 117434557 A CN117434557 A CN 117434557A CN 202311380251 A CN202311380251 A CN 202311380251A CN 117434557 A CN117434557 A CN 117434557A
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CN
China
Prior art keywords
positioning
satellite navigation
vehicle
cellular network
track
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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CN202311380251.2A
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Chinese (zh)
Inventor
谢鸿钧
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Guangzhou Xiaopeng Motors Technology Co Ltd
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Guangzhou Xiaopeng Motors Technology Co Ltd
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Priority to CN202311380251.2A priority Critical patent/CN117434557A/en
Publication of CN117434557A publication Critical patent/CN117434557A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
    • G01S19/215—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service issues related to spoofing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—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
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]

Abstract

The invention belongs to the technical field of satellite navigation, and discloses a deception jamming detection method, a deception jamming detection device and a vehicle networking system. The method comprises the following steps: determining whether satellite navigation positioning of a vehicle accords with cellular network wireless positioning based on the cellular network wireless positioning of the vehicle; when the satellite navigation positioning of the vehicle accords with the wireless positioning of the cellular network, determining whether the satellite navigation positioning of the vehicle accords with the inertial navigation positioning or not based on the inertial navigation positioning of the vehicle; and when the satellite navigation positioning of the vehicle does not accord with the inertial navigation positioning, determining that the satellite navigation positioning of the vehicle has deceptive jamming. By means of the method, the detection of deception jamming is carried out on satellite navigation positioning by integrating cellular network wireless positioning and inertial navigation positioning, accuracy and reliability of deception jamming detection are improved, and accurate and reliable GNSS deception jamming detection is achieved.

Description

Deception jamming detection method and device and Internet of vehicles system
Technical Field
The present invention relates to the field of satellite navigation technologies, and in particular, to a method and apparatus for detecting fraud interference, and a vehicle networking system.
Background
The global satellite navigation system (Global Navigation Satellite System, GNSS) is a satellite-based radio positioning system, mainly comprising the global positioning system (Global Positioning System, GPS) of the united states, the Beidou (BDS) of china, the glonass (GL 0 NASS) of russia, and the Galileo (Galileo) four systems of europe. Currently, with rapid development of geographic information systems and location services, GNSS has gradually transitioned from pure military applications to dual-purpose applications of both military and civil, such as in the fields of car navigation, vehicle-mounted monitoring, mobile charging, personal intelligent terminals, and the like.
With the increasing level of autopilot, the necessity of high-precision positioning configurations of passenger vehicles is becoming more and more pronounced, wherein the positioning technology combined with GNSS and inertial navigation systems (Inertial Navigation System, INS) is of great advantage, but GNSS is often subject to a wide variety of disturbances, of which the most serious and difficult to handle is deceptive disturbances. The rogue interferer may implement interference to a range of GNSS receivers by forwarding delayed GNSS signals or directly transmitting GNSS signals with spurious parameters. When the interfered receiver uses the signals as GNSS signals transmitted by satellites, the error position can be solved and deception or even controlled, so that the detection and the inhibition of deception interference are key technologies for guaranteeing the GNSS security application. Automatic gain control detection technology, direction of arrival detection technology and observational detection technology are generally adopted to detect GNSS deception signals, but in vehicle-mounted application, detection accuracy is low.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a deception jamming detection method, device, equipment and storage medium, and aims to solve the technical problem that in the prior art, in vehicle-mounted application, GNSS deception jamming is detected by using a traditional detection method, and detection accuracy is low.
In order to achieve the above object, the present invention provides a fraud detection method, the method including the steps of:
determining whether satellite navigation positioning of a vehicle accords with cellular network wireless positioning based on the cellular network wireless positioning of the vehicle;
when the satellite navigation positioning of the vehicle accords with the wireless positioning of the cellular network, determining whether the satellite navigation positioning of the vehicle accords with the inertial navigation positioning or not based on the inertial navigation positioning of the vehicle;
and when the satellite navigation positioning of the vehicle does not accord with the inertial navigation positioning, determining that the satellite navigation positioning of the vehicle has deceptive jamming.
Optionally, the determining whether the satellite navigation positioning of the vehicle accords with the cellular network wireless positioning based on the cellular network wireless positioning of the vehicle comprises:
acquiring cellular network wireless position information based on cellular network wireless positioning of the vehicle, and acquiring satellite navigation position information based on satellite navigation positioning of the vehicle;
and determining whether the satellite navigation positioning of the vehicle accords with the wireless positioning of the cellular network according to the wireless position information of the cellular network and the satellite navigation position information.
Optionally, the determining whether the satellite navigation positioning of the vehicle accords with the cellular network wireless positioning according to the cellular network wireless position information and the satellite navigation position information includes:
Determining a position distance according to the wireless position information of the cellular network and the satellite navigation position information;
and when the position distance is smaller than or equal to a preset distance threshold value, determining that satellite navigation positioning of the vehicle accords with wireless positioning of a cellular network.
Optionally, after determining the location distance according to the cellular network wireless location information and the satellite navigation location information, the method further includes:
updating a position detection count when the position distance is greater than the preset distance threshold;
when the position detection count is smaller than a preset position detection threshold value, acquiring new cellular network wireless position information and new satellite navigation position information, and returning to execute the step of determining the position distance based on the cellular network wireless position information and the satellite navigation position information;
and when the position detection count is greater than or equal to the preset position detection threshold, determining that satellite navigation positioning of the vehicle does not accord with wireless positioning of a cellular network.
Optionally, the fraud detection method further includes:
and when the satellite navigation positioning of the vehicle does not accord with the wireless positioning of the cellular network, determining that the satellite navigation positioning of the vehicle has deception jamming.
Optionally, the determining whether the satellite navigation positioning of the vehicle accords with the inertial navigation positioning based on the inertial navigation positioning of the vehicle includes:
acquiring inertial navigation track information based on inertial navigation positioning of the vehicle, and acquiring satellite navigation track information based on satellite navigation positioning of the vehicle;
and determining whether the satellite navigation positioning of the vehicle accords with the inertial navigation positioning according to the satellite navigation track information and the inertial navigation track information.
Optionally, the determining whether the satellite navigation positioning of the vehicle accords with the inertial navigation positioning according to the satellite navigation track information and the inertial navigation track information includes:
determining the track overlap ratio according to the satellite navigation track information and the inertial navigation track information;
and when the track overlap ratio is smaller than a preset overlap threshold, determining that satellite navigation positioning of the vehicle does not accord with inertial navigation positioning.
Optionally, after determining the track overlap ratio according to the satellite navigation track information and the inertial navigation track information, the method further includes:
updating the track detection count when the track overlap ratio is greater than or equal to the preset overlap threshold;
When the track detection count is smaller than a preset track detection threshold value, acquiring new satellite navigation track information and new inertial navigation track information, and returning to execute the step of determining the track overlap ratio based on the satellite navigation track information and the inertial navigation track information;
and when the track detection count is greater than or equal to the preset track detection threshold, determining that satellite navigation positioning of the vehicle accords with inertial navigation positioning.
In addition, in order to achieve the above object, the present invention also proposes a fraud detection apparatus including:
the cellular network detection module is used for determining whether satellite navigation positioning of the vehicle accords with cellular network wireless positioning or not based on the cellular network wireless positioning of the vehicle;
the inertial navigation detection module is used for determining whether the satellite navigation positioning of the vehicle accords with the inertial navigation positioning based on the inertial navigation positioning of the vehicle when the satellite navigation positioning of the vehicle accords with the wireless positioning of the cellular network;
the inertial navigation detection module is further used for determining that the satellite navigation positioning of the vehicle is deceptive and disturbed when the satellite navigation positioning of the vehicle does not accord with the inertial navigation positioning.
In addition, in order to achieve the above object, the present invention also proposes a spoofing interference detecting apparatus including: a memory, a processor, and a fraud detection program stored on the memory and executable on the processor, the fraud detection program configured to implement the steps of the fraud detection method as described above.
In addition, in order to achieve the above object, the present invention also proposes a car networking system including the fraud detection apparatus as described above, and implementing the steps of the fraud detection method as described above.
In the invention, based on the cellular network wireless positioning of the vehicle, whether the satellite navigation positioning of the vehicle accords with the cellular network wireless positioning is determined, when the satellite navigation positioning of the vehicle accords with the cellular network wireless positioning, based on the inertial navigation positioning of the vehicle, whether the satellite navigation positioning of the vehicle accords with the inertial navigation positioning is determined, and when the satellite navigation positioning of the vehicle does not accord with the inertial navigation positioning, the satellite navigation positioning of the vehicle is determined to have deceptive interference. In vehicle-mounted application, the conventional detection method is used for detecting GNSS deception jamming, the detection accuracy is low, the cellular network wireless positioning is used for initially detecting the GNSS deception jamming, obvious deception jamming is identified, the INS positioning high precision and high stability are used for further detecting the GNSS deception jamming, deception jamming which is not easy to identify is avoided, the cellular network wireless positioning and the INS positioning are combined for detecting the GNSS deception jamming, accuracy and reliability of detecting the GNSS deception jamming are improved, and accurate and reliable GNSS deception jamming detection is achieved.
Drawings
FIG. 1 is a schematic diagram of a spoofing interference detection device in a hardware operating environment in accordance with an embodiment of the present invention;
FIG. 2 is a flowchart of a first embodiment of a fraud detection method according to the present invention;
FIG. 3 is a schematic diagram of an application scenario of an embodiment of a fraud detection method according to the present invention;
FIG. 4 is a schematic overall flow chart of an embodiment of a fraud detection method according to the present invention;
FIG. 5 is a flowchart of a second embodiment of a fraud detection method according to the present invention;
FIG. 6 is a diagram illustrating wireless location of a cellular network according to an embodiment of the present invention;
FIG. 7 is a flowchart of a third embodiment of a fraud detection method according to the present invention;
FIG. 8 is a flowchart of a fourth embodiment of a fraud detection method according to the present invention;
FIG. 9 is a schematic diagram of a preliminary detection flow of an embodiment of a fraud detection method according to the present invention;
FIG. 10 is a flowchart of a method for detecting fraud in accordance with a fifth embodiment of the present invention;
FIG. 11 is a flowchart of a method for detecting fraud according to a sixth embodiment of the present invention;
FIG. 12 is a flowchart of a method for detecting fraud in accordance with a seventh embodiment of the present invention;
FIG. 13 is a schematic diagram illustrating a detection flow of an embodiment of a fraud detection method according to the present invention;
Fig. 14 is a block diagram showing the structure of a first embodiment of the fraud detection apparatus of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a spoofing interference detecting device in a hardware running environment according to an embodiment of the present invention.
As shown in fig. 1, the fraud detection apparatus may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) Memory or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the structure shown in fig. 1 does not constitute a limitation of the fraud detection apparatus, and may include more or fewer components than shown, or may combine certain components, or may be a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a spoofing interference detecting program may be included in the memory 1005 as one type of storage medium.
In the fraud detection apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the fraud detection apparatus of the present invention may be provided in the fraud detection apparatus, and the fraud detection apparatus calls a fraud detection program stored in the memory 1005 through the processor 1001 and executes the fraud detection method provided by the embodiment of the present invention.
An embodiment of the present invention provides a method for detecting fraud, and referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of a method for detecting fraud.
In this embodiment, the fraud detection method includes the following steps:
Step S10: based on the cellular network radio positioning of the vehicle, it is determined whether the satellite navigation positioning of the vehicle corresponds to the cellular network radio positioning.
It should be noted that, referring to fig. 3, the execution body of the embodiment may be a car networking system, where the car networking system integrates a GNSS positioning technology, a cellular network wireless positioning technology, and an INS positioning technology, and has a global satellite navigation positioning function (i.e. a positioning function of a GNSS), a cellular network wireless positioning function, and an inertial navigation positioning function (i.e. a positioning function of an INS), and a spoofing interference detection program is run on the car networking system, and by integrating the cellular network wireless positioning technology and the INS positioning technology, the detection of GNSS spoofing interference is implemented, and may be other terminal devices with computing capabilities.
It can be understood that, whether the satellite navigation positioning of the vehicle accords with the cellular network wireless positioning means whether the output result of the GNSS positioning is consistent with the output result of the cellular network wireless positioning, and whether the satellite navigation positioning of the vehicle accords with the output result of the cellular network wireless positioning is inconsistent with the output result of the cellular network wireless positioning.
Further, when the satellite navigation positioning of the vehicle does not accord with the wireless positioning of the cellular network, determining that the satellite navigation positioning of the vehicle has deception jamming.
It should be appreciated that if the satellite navigation positioning is compliant with the cellular network radio positioning, the GNSS spoofing is primarily considered to be not occurring, and if the satellite navigation positioning is not compliant with the cellular network radio positioning, the GNSS spoofing is considered to be detected.
It should be noted that, although the accuracy of the wireless positioning of the cellular network is 50-200 m, the wireless positioning of the cellular network is lower, but the wireless positioning of the cellular network can be used for carrying out primary detection on GNSS deception jamming, the accuracy is enough, and obvious deception jamming can be detected. The cellular network radio location information is in this embodiment auxiliary detection information for GNSS fraud detection.
In a specific implementation, the wireless positioning of the cellular network is utilized to preliminarily detect whether the GNSS positioning has deception jamming or not.
Step S20: and when the satellite navigation positioning of the vehicle accords with the wireless positioning of the cellular network, determining whether the satellite navigation positioning of the vehicle accords with the inertial navigation positioning or not based on the inertial navigation positioning of the vehicle.
It can be understood that the satellite navigation positioning of the vehicle accords with the wireless positioning of the cellular network, and the initial judgment of the wireless positioning of the cellular network can be considered that no deception jamming occurs, but the GNSS can not be directly considered that no deception jamming exists at the moment, and further judgment is needed.
It should be appreciated that inertial navigation positioning is the INS positioning. Whether the satellite navigation positioning of the vehicle accords with the inertial navigation positioning refers to whether the output result of the GNSS positioning is consistent with the output result of the INS positioning, wherein the satellite navigation positioning of the vehicle accords with the inertial navigation positioning, namely, the output result of the GNSS positioning is consistent with the output result of the INS positioning, and the satellite navigation positioning of the vehicle does not accord with the inertial navigation positioning, namely, the output result of the GNSS positioning is inconsistent with the output result of the INS positioning.
It should be noted that if the satellite navigation positioning is consistent with the INS positioning, the GNSS spoofing is not considered to occur, and if the satellite navigation positioning is not consistent with the INS positioning, the GNSS spoofing is considered to be detected.
In a specific implementation, the INS positioning is used to further determine whether the GNSS positioning is subject to fraud.
Step S30: and when the satellite navigation positioning of the vehicle does not accord with the inertial navigation positioning, determining that the satellite navigation positioning of the vehicle has deceptive jamming.
It can be understood that GNSS is easy to be interfered maliciously, mainly because satellite signals received by its receiver are easy to be interfered by electromagnetic interference, so this embodiment merges INS positioning technology, which is not affected by electromagnetic interference, can provide navigation parameter information with high accuracy and high stability in a short time, can be used for assisting in detecting fraud interference, and can identify some fraud interference which is not easy to be found, for example: gradually inducing fraud.
As shown in the overall flow chart of fig. 4, the information obtained by INS positioning and cellular network wireless positioning is compared with the information obtained by GNSS positioning, and whether GNSS spoofing interference exists is determined according to whether there is consistency between the information.
Further, the fraud detection method further includes: and outputting early warning information when the satellite navigation positioning of the vehicle has deception jamming.
It will be appreciated that the early warning information is early warning for the user, and the early warning information may be in any suitable form, for example: voice warning, picture warning, video warning, etc., which is not limited in this embodiment.
In a specific implementation, if the vehicle is in GNSS deception jamming in the automatic driving process, an early warning is sent to a user, and the user can switch the automatic driving mode into a manual driving mode so as to ensure the driving safety.
In this embodiment, based on cellular network wireless positioning of the vehicle, it is determined whether satellite navigation positioning of the vehicle accords with the cellular network wireless positioning, when satellite navigation positioning of the vehicle accords with the cellular network wireless positioning, it is determined whether satellite navigation positioning of the vehicle accords with inertial navigation positioning based on inertial navigation positioning of the vehicle, and when satellite navigation positioning of the vehicle does not accord with inertial navigation positioning, it is determined that deceptive interference exists in satellite navigation positioning of the vehicle. In vehicle-mounted application, the conventional detection method is used for detecting GNSS deception jamming, the detection accuracy is low, the cellular network wireless positioning is used for initially detecting the GNSS deception jamming, obvious deception jamming is identified, the INS positioning high precision and high stability are used for further detecting the GNSS deception jamming, deception jamming which is not easy to identify is avoided, the cellular network wireless positioning and the INS positioning are fused for detecting the GNSS deception jamming, accuracy and reliability of detecting the GNSS deception jamming are improved, and accurate and reliable GNSS deception jamming detection is achieved.
Referring to fig. 5, fig. 5 is a flowchart of a second embodiment of a fraud detection method according to the present invention.
Based on the above embodiment, the step S10 includes:
step S101: and acquiring cellular network wireless position information based on the cellular network wireless positioning of the vehicle, and acquiring satellite navigation position information based on the satellite navigation positioning of the vehicle.
The cellular network wireless location information refers to the current geographical location coordinates of the vehicle obtained by using the cellular network wireless location function, and the satellite navigation location information refers to the current geographical location coordinates of the vehicle obtained by using the GNSS location function. Since a receiver is typically located in the vehicle to receive signals from the GNSS positioning, the cellular radio positioning, and the INS positioning, the location information of the vehicle can also be considered as the current geographic location coordinates of the receiver. The cellular network wireless location information and the satellite navigation location information of the vehicle need to be acquired by using a cellular network wireless location function and a GNSS location function respectively.
It can be understood that when the cellular network is wirelessly positioned to determine the current geographic position coordinates of the vehicle, a TDOA (Time delay of arrival, time difference of arrival) mode may be adopted, as shown in fig. 6, where the absolute time difference of arrival of signals at different base stations is used to obtain a distance difference, and the base station is used as a focal point, the distance difference is used as a long axis, so as to obtain a hyperbola, and the intersection point a of the hyperbola is the position of the vehicle.
Step S102: and determining whether the satellite navigation positioning of the vehicle accords with the wireless positioning of the cellular network according to the wireless position information of the cellular network and the satellite navigation position information.
It should be understood that the satellite navigation positioning of the vehicle accords with the result of the cellular network wireless positioning, that is, the result of the GNSS positioning is consistent with the result of the cellular network wireless positioning, and the satellite navigation positioning of the vehicle does not accord with the result of the cellular network wireless positioning, that is, the result of the GNSS positioning is inconsistent with the result of the cellular network wireless positioning, at this time, the output result of the GNSS positioning compared is satellite navigation position information, the output result of the cellular network wireless positioning is cellular network wireless position information, and in other embodiments, other output results may also be used to determine whether the satellite navigation positioning of the vehicle accords with the cellular network wireless positioning.
It should be noted that, considering error factors, when judging whether the result of GNSS positioning is consistent with the result of cellular network wireless positioning, a position range may be defined according to the cellular network wireless position information, and compared with satellite navigation position information, so as to judge the consistency between the information.
In a specific implementation, whether deception jamming exists in GNSS positioning is primarily judged by utilizing position information obtained by wireless positioning of a cellular network and position information obtained by GNSS positioning.
In this embodiment, based on cellular network wireless positioning of the vehicle, cellular network wireless position information is acquired, and based on satellite navigation positioning of the vehicle, satellite navigation position information is acquired, and whether the satellite navigation positioning of the vehicle accords with the cellular network wireless positioning is determined according to the cellular network wireless position information and the satellite navigation position information. According to the method, whether the GNSS deception jamming occurs or not is judged by means of consistency between the output results of the cellular network wireless positioning and the GNSS positioning, the GNSS deception jamming is initially detected through the cellular network wireless positioning, obvious deception jamming is identified, the high accuracy and the high stability of the INS positioning are subsequently utilized for further detecting the GNSS deception jamming, the cellular network wireless positioning and the INS positioning are fused, and accurate and reliable GNSS deception jamming detection is achieved.
Referring to fig. 7, fig. 7 is a flowchart of a third embodiment of a fraud detection method according to the present invention.
Based on the above embodiment, the step S102 includes:
Step S1021: and determining a position distance according to the wireless position information of the cellular network and the satellite navigation position information.
The location distance refers to a distance difference between the wireless location information of the cellular network and the satellite navigation location information.
Step S1022: and when the position distance is smaller than or equal to a preset distance threshold value, determining that satellite navigation positioning of the vehicle accords with wireless positioning of a cellular network.
It can be appreciated that, considering error factors, when determining whether the result of GNSS positioning is consistent with the result of cellular network wireless positioning, a position range can be defined according to cellular network wireless position information, and compared with satellite navigation position information, so as to determine consistency between the information. In this embodiment, a preset distance threshold is set to define a compared position range, where the preset distance threshold is a maximum value of a distance difference value between cellular network wireless position information and satellite navigation position information, and a threshold area can be obtained by taking the cellular network wireless position information as a center and taking the preset distance threshold as a radius, if the satellite navigation position information is in the threshold area, a result of GNSS positioning is considered to be consistent with a result of cellular network wireless positioning, satellite navigation positioning accords with cellular network wireless positioning, and GNSS spoofing interference is not primarily considered to occur at this time.
It should be appreciated that, in order to determine whether the satellite navigation position information is within the threshold region, the preset distance threshold may be compared with the obtained distance information, and if the position distance is less than or equal to the preset distance threshold, the satellite navigation position information is considered to be within the threshold region, and if the position distance is greater than the preset distance threshold, the satellite navigation position information is considered to be not within the threshold region.
The preset distance threshold/threshold area is related to the accuracy of the wireless positioning of the cellular network, and the higher the accuracy of the wireless positioning of the cellular network is, the smaller the preset distance threshold/threshold area is.
In this embodiment, the position distance is determined based on the cellular network wireless position information and the satellite navigation position information; and when the position distance is smaller than or equal to a preset distance threshold value, determining that satellite navigation positioning of the vehicle accords with wireless positioning of the cellular network. According to the method, the device and the system, the GNSS deception jamming is initially detected by utilizing the wireless positioning of the cellular network, the GNSS deception jamming is further detected by utilizing the high accuracy and the high stability of the INS positioning, the detection of the GNSS deception jamming is performed by combining the wireless positioning of the cellular network and the INS positioning, the accuracy and the reliability of the detection of the GNSS deception jamming are improved, and the accurate and reliable detection of the GNSS deception jamming is realized.
Referring to fig. 8, fig. 8 is a flowchart of a fourth embodiment of a fraud detection method according to the present invention.
Based on the above third embodiment, after the step S1021, the method further includes:
step S1022': and updating the position detection count when the position distance is greater than the preset distance threshold.
The position detection count refers to a count in the case where the position distance is greater than the preset distance threshold.
It will be appreciated that if the position distance is greater than the preset distance threshold, then the satellite navigation position information is considered to be not within the threshold region, at which point GNSS fraud may occur.
Step S1023': and when the position detection count is greater than or equal to a preset position detection threshold, determining that satellite navigation positioning of the vehicle does not accord with wireless positioning of a cellular network.
Further, when the position detection count is smaller than a preset position detection threshold, new cellular network wireless position information and new satellite navigation position information are acquired, and the step of determining the position distance based on the cellular network wireless position information and the satellite navigation position information is returned to be executed.
It should be understood that the preset position detection threshold is the maximum value reached by the set allowable position detection count, for example: 5 times, the embodiment does not limit the method, and the method can be flexibly adjusted according to actual requirements. In order to ensure the accuracy of detection, when the position distance is greater than the preset distance threshold, the embodiment can re-acquire new wireless position information of the cellular network and new navigation position information of the satellite to obtain a new distance threshold, compare the position distance with the preset distance threshold again, and if the position distance is still greater than the preset distance threshold, continue to compare again until the position detection count reaches the preset position detection threshold. If the position detection count is smaller than the preset position detection threshold, the detection can be repeated all the time, and if the position distance is smaller than or equal to the preset distance threshold in the period, the GNSS deception jamming can be considered to be absent.
After the step S1023', the method further includes:
step S1024': and when the satellite navigation positioning of the vehicle does not accord with the wireless positioning of the cellular network, determining that the satellite navigation positioning of the vehicle has deception jamming.
If the satellite navigation positioning does not conform to the cellular network wireless positioning, the GNSS spoofing interference is considered to be detected.
As shown in the preliminary detection schematic diagram of fig. 9, comparing the position information output by the GNSS positioning with the position information output by the cellular network wireless positioning, if the position information of the GNSS positioning exceeds the set threshold value of the position information based on the cellular network wireless positioning, acquiring new information again for comparison, if the position information of the GNSS positioning still exceeds the set threshold value after multiple comparisons, then the GNSS spoofing interference is considered to be detected, otherwise, continuing to perform subsequent detection.
In this embodiment, based on the cellular network wireless location information and the satellite navigation location information, determining a location distance, updating a location detection count when the location distance is greater than the preset distance threshold, and determining that the satellite navigation location of the vehicle does not conform to the cellular network wireless location when the location detection count is greater than or equal to the preset location detection threshold. According to the method and the device for detecting the GNSS deception jamming, the cellular network wireless positioning is utilized to perform preliminary detection on the GNSS deception jamming, obvious deception jamming can be identified, and deception jamming detection efficiency is improved.
Referring to fig. 10, fig. 10 is a flowchart of a spoofing interference detecting method according to a fifth embodiment of the present invention.
Based on the above embodiment, the step S20 includes:
step S201: when the satellite navigation positioning of the vehicle accords with the wireless positioning of the cellular network, acquiring inertial navigation track information based on the inertial navigation positioning of the vehicle, and acquiring satellite navigation track information based on the satellite navigation positioning of the vehicle.
The satellite navigation track information refers to a motion track of a vehicle obtained by using the global satellite navigation positioning function, and the inertial navigation track information refers to a motion track of a vehicle obtained by using the INS positioning function. The track information is usually a motion track of the vehicle in a period of time, and may be a motion track between a time point when the vehicle acquires the track information last time and a current time point, or may set a fixed time range, for example: this is not limited in this example within 30 seconds and within 1 minute. The satellite navigation track information and the inertial navigation track information of the vehicle need to be acquired by using a GNSS positioning function and an INS positioning function respectively.
It can be understood that, before the INS is located, it is necessary to initialize the INS according to the relevant information obtained by GNSS positioning, and may also be considered as calibration, where parameters to be calibrated include the direction of the vehicle head, the direction of the vehicle running, and the like, and the calibration is performed according to the actual requirement, which is not limited in this embodiment.
Step S202: and determining whether the satellite navigation positioning of the vehicle accords with the inertial navigation positioning according to the satellite navigation track information and the inertial navigation track information.
It should be understood that the output result of the satellite navigation positioning of the vehicle, which accords with the inertial navigation positioning, that is, the output result of the GNSS positioning is consistent with the output result of the INS positioning, and the output result of the satellite navigation positioning of the vehicle, which does not accord with the inertial navigation positioning, that is, the output result of the GNSS positioning is inconsistent with the output result of the INS positioning, and at this time, the output result of the GNSS positioning compared is satellite navigation track information, and the output result of the INS positioning is inertial navigation track information.
It can be understood that when determining whether the result of GNSS positioning is consistent with the result of INS positioning, error factors need to be considered, the consistency between the information can be determined according to the superposition condition between satellite navigation track information and inertial navigation track information, if the difference between the satellite navigation track information and the inertial navigation track information is large, the result of GNSS positioning is not consistent with the result of INS positioning, the satellite navigation positioning is not consistent with the cellular network wireless positioning, and if the difference between the satellite navigation track information and the inertial navigation track information is small, the result of GNSS positioning is consistent with the result of INS positioning, and the satellite navigation positioning is consistent with INS positioning.
It should be appreciated that if the satellite navigation positioning is consistent with the INS positioning, then no GNSS spoofing is considered to occur, and if the satellite navigation positioning is not consistent with the INS positioning, then a GNSS positioning spoofing is considered to be detected.
In a specific implementation, the track information obtained by INS positioning and the track information obtained by GNSS positioning are utilized to further judge whether deception jamming exists in GNSS positioning.
In this embodiment, inertial navigation track information is acquired based on inertial navigation positioning of a vehicle, satellite navigation track information is acquired based on satellite navigation positioning of the vehicle, and whether satellite navigation positioning of the vehicle accords with inertial navigation positioning is determined according to the satellite navigation track information and the inertial navigation track information. According to the method, based on preliminary detection of GNSS deception jamming by using cellular network wireless positioning, further detection of the GNSS deception jamming is performed by using high accuracy and high stability of INS positioning, deception jamming which is not easy to identify can be detected, detection of the GNSS deception jamming is performed by combining cellular network wireless positioning and INS positioning, accuracy and reliability of detection of the GNSS deception jamming are improved, and accurate and reliable detection of the GNSS deception jamming is achieved.
Referring to fig. 11, fig. 11 is a flowchart of a method for detecting fraud according to a sixth embodiment of the present invention.
Based on the above embodiment, the step S202 includes:
step S2021: and determining the track overlap ratio according to the satellite navigation track information and the inertial navigation track information.
The track overlap ratio refers to the overlap condition between the satellite navigation track information and the inertial navigation track information, and may be represented by a value of 0 to 1, where the track overlap ratio may be any parameter capable of representing the overlap condition, and may be selected according to actual requirements, which is not limited in this embodiment.
Step S2022: and when the track overlap ratio is smaller than a preset overlap threshold, determining that satellite navigation positioning of the vehicle does not accord with inertial navigation positioning.
It may be appreciated that the preset coincidence threshold is a minimum value that the track coincidence needs to reach, for example: 0.8, the embodiment does not limit this, can adjust flexibly according to the actual demand, the embodiment does not limit this.
It should be understood that the track overlap ratio is smaller than the preset overlap threshold, which indicates that the difference between the satellite navigation track information and the inertial navigation track information is larger, and because the INS positioning has high accuracy and high stability, the result of GNSS positioning is not consistent with the result of INS positioning, and the satellite navigation positioning does not conform to the INS positioning, at this time, GNSS spoofing interference can be considered to occur.
In this embodiment, the track overlap ratio is determined based on the satellite navigation track information and the inertial navigation track information, and when the track overlap ratio is smaller than a preset overlap threshold, it is determined that the satellite navigation positioning of the vehicle does not conform to the inertial navigation positioning. According to the method, the initial detection of the GNSS deception jamming is carried out by utilizing the wireless positioning of the cellular network, the further detection of the GNSS deception jamming is carried out by utilizing the high accuracy and the high stability of the INS positioning, the detection of the GNSS deception jamming is carried out by combining the wireless positioning of the cellular network and the INS positioning, the obvious deception jamming which is not easy to identify can be detected, the accuracy and the reliability of the detection of the GNSS deception jamming are improved, and the accurate and reliable detection of the GNSS deception jamming is realized.
Referring to fig. 12, fig. 12 is a flowchart of a seventh embodiment of a fraud detection method according to the present invention.
Based on the sixth embodiment, after the step S2021, the method further includes:
step S2022': and updating the track detection count when the track overlap ratio is greater than or equal to the preset overlap threshold.
Note that the track detection count refers to a count for the case where the track overlap ratio is equal to or greater than the preset overlap threshold.
It can be understood that the track overlap ratio is greater than or equal to the preset overlap threshold, which indicates that the difference between the satellite navigation track information and the inertial navigation track information is smaller, and GNSS fraud interference may not exist.
Step S2023': and when the track detection count is greater than or equal to the preset track detection threshold, determining that satellite navigation positioning of the vehicle accords with inertial navigation positioning.
Further, when the track detection count is smaller than a preset track detection threshold, new satellite navigation track information and new inertial navigation track information are acquired, and the step of determining the track overlap ratio based on the satellite navigation track information and the inertial navigation track information is executed in a returning mode.
It should be understood that the preset track detection threshold is a maximum value reached by the set allowable track detection count, for example: 5 times, the embodiment does not limit the method, and the method can be flexibly adjusted according to actual requirements. In order to ensure the accuracy of detection, when the track overlap ratio is greater than or equal to a preset overlap threshold, the embodiment can re-acquire new satellite navigation track information and new inertial navigation track information to obtain new track overlap ratio, compare the track overlap ratio with the preset overlap threshold again, and if the track overlap ratio is still greater than or equal to the preset overlap threshold, continue to re-compare until the track detection count reaches the preset track detection threshold. And when the track detection count is smaller than the preset track detection threshold, the detection can be repeated all the time, and if the track contact ratio is smaller than the preset contact threshold in the period, GNSS deception jamming is considered to exist. If the track detection count is equal to the preset track detection threshold, and the track coincidence degree is not smaller than the preset coincidence threshold, the satellite navigation positioning is considered to be consistent with the inertial navigation positioning, at the moment, GNSS deception jamming can be considered not to occur, and the latest GNSS positioning data is used for calibrating the INS positioning.
As shown in the detection schematic diagram in fig. 13, the track information output by the GNSS positioning is compared with the track information output by the INS positioning, and if the degree of coincidence between the track information does not reach the set threshold, the GNSS fraud is considered to be detected.
In this embodiment, the track overlap ratio is determined according to the satellite navigation track information and the inertial navigation track information, when the track overlap ratio is greater than or equal to a preset overlap threshold value, the track detection count is updated, and when the track detection count is greater than or equal to the preset track detection threshold value, it is determined that the satellite navigation positioning of the vehicle accords with the inertial navigation positioning. According to the method, on the basis of preliminary detection of GNSS deception jamming by using cellular network wireless positioning, whether GNSS deception jamming exists or not is judged by using consistency between the trajectory information obtained by INS positioning and GNSS positioning, further detection is carried out on the GNSS deception jamming, detection of the GNSS deception jamming is carried out by fusing the cellular network wireless positioning and the INS positioning, accuracy and reliability of detection of the GNSS deception jamming are improved, and accurate and reliable detection of the GNSS deception jamming is achieved.
Referring to fig. 14, fig. 14 is a block diagram showing the structure of a first embodiment of the fraud detection apparatus of the present invention.
As shown in fig. 14, the fraud detection apparatus according to the embodiment of the present invention includes:
the cellular network detection module 10 is configured to determine whether satellite navigation positioning of a vehicle accords with cellular network wireless positioning based on cellular network wireless positioning of the vehicle.
The inertial navigation detection module 20 is configured to determine whether the satellite navigation positioning of the vehicle accords with the inertial navigation positioning based on the inertial navigation positioning of the vehicle when the satellite navigation positioning of the vehicle accords with the cellular network wireless positioning.
The inertial navigation detection module 20 is further configured to determine that there is fraud in satellite navigation positioning of the vehicle when satellite navigation positioning of the vehicle does not conform to inertial navigation positioning.
In this embodiment, based on cellular network wireless positioning of the vehicle, it is determined whether satellite navigation positioning of the vehicle accords with the cellular network wireless positioning, when satellite navigation positioning of the vehicle accords with the cellular network wireless positioning, it is determined whether satellite navigation positioning of the vehicle accords with inertial navigation positioning based on inertial navigation positioning of the vehicle, and when satellite navigation positioning of the vehicle does not accord with inertial navigation positioning, it is determined that deceptive interference exists in satellite navigation positioning of the vehicle. In vehicle-mounted application, the conventional detection method is used for detecting GNSS deception jamming, the detection accuracy is low, the cellular network wireless positioning is used for initially detecting the GNSS deception jamming, obvious deception jamming is identified, the INS positioning high precision and high stability are used for further detecting the GNSS deception jamming, deception jamming which is not easy to identify is avoided, the cellular network wireless positioning and the INS positioning are fused for detecting the GNSS deception jamming, accuracy and reliability of detecting the GNSS deception jamming are improved, and accurate and reliable GNSS deception jamming detection is achieved.
In an embodiment, the cellular network detection module 10 is further configured to obtain cellular network wireless location information based on cellular network wireless location of the vehicle, and obtain satellite navigation location information based on satellite navigation location of the vehicle;
and determining whether the satellite navigation positioning of the vehicle accords with the wireless positioning of the cellular network according to the wireless position information of the cellular network and the satellite navigation position information.
In one embodiment, the cellular network detection module 10 is further configured to determine a location distance according to the cellular network wireless location information and the satellite navigation location information;
and when the position distance is smaller than or equal to a preset distance threshold value, determining that satellite navigation positioning of the vehicle accords with wireless positioning of a cellular network.
In an embodiment, the cellular network detection module 10 is further configured to update a location detection count when the location distance is greater than the preset distance threshold;
when the position detection count is smaller than a preset position detection threshold value, acquiring new cellular network wireless position information and new satellite navigation position information, and returning to execute the step of determining the position distance based on the cellular network wireless position information and the satellite navigation position information;
And when the position detection count is greater than or equal to the preset position detection threshold, determining that satellite navigation positioning of the vehicle does not accord with wireless positioning of a cellular network.
In an embodiment, the cellular network detection module 10 is further configured to determine that there is fraud in the satellite navigation positioning of the vehicle when the satellite navigation positioning of the vehicle does not conform to the cellular network wireless positioning.
In an embodiment, the inertial navigation detection module 20 is further configured to obtain inertial navigation track information based on inertial navigation positioning of the vehicle, and obtain satellite navigation track information based on satellite navigation positioning of the vehicle;
and determining whether the satellite navigation positioning of the vehicle accords with the inertial navigation positioning according to the satellite navigation track information and the inertial navigation track information.
In an embodiment, the inertial navigation detection module 20 is further configured to determine a track overlap ratio according to the satellite navigation track information and the inertial navigation track information;
and when the track overlap ratio is smaller than a preset overlap threshold, determining that satellite navigation positioning of the vehicle does not accord with inertial navigation positioning.
In an embodiment, the inertial navigation detection module 20 is further configured to update a track detection count when the track overlap ratio is greater than or equal to the preset overlap threshold;
When the track detection count is smaller than a preset track detection threshold value, acquiring new satellite navigation track information and new inertial navigation track information, and returning to execute the step of determining the track overlap ratio based on the satellite navigation track information and the inertial navigation track information;
and when the track detection count is greater than or equal to the preset track detection threshold, determining that satellite navigation positioning of the vehicle accords with inertial navigation positioning.
In addition, the embodiment of the invention also provides a vehicle networking system, which comprises the deception jamming detection device and realizes the steps of the deception jamming detection method.
It should be understood that the foregoing is illustrative only and is not limiting, and that in specific applications, those skilled in the art may set the invention as desired, and the invention is not limited thereto.
It should be noted that the above-described working procedure is merely illustrative, and does not limit the scope of the present invention, and in practical application, a person skilled in the art may select part or all of them according to actual needs to achieve the purpose of the embodiment, which is not limited herein.
In addition, technical details that are not described in detail in this embodiment may refer to the spoofing interference detection method provided in any embodiment of the present invention, which is not described herein.
Furthermore, it should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. Read Only Memory)/RAM, magnetic disk, optical disk) and including several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.

Claims (10)

1. A fraud detection method, characterized in that the fraud detection method comprises:
determining whether satellite navigation positioning of a vehicle accords with cellular network wireless positioning based on the cellular network wireless positioning of the vehicle;
when the satellite navigation positioning of the vehicle accords with the wireless positioning of the cellular network, determining whether the satellite navigation positioning of the vehicle accords with the inertial navigation positioning or not based on the inertial navigation positioning of the vehicle;
and when the satellite navigation positioning of the vehicle does not accord with the inertial navigation positioning, determining that the satellite navigation positioning of the vehicle has deceptive jamming.
2. The method of claim 1, wherein the vehicle-based cellular network wireless location determining whether satellite navigation locations of the vehicle are compliant with cellular network wireless locations comprises:
acquiring cellular network wireless position information based on cellular network wireless positioning of the vehicle, and acquiring satellite navigation position information based on satellite navigation positioning of the vehicle;
And determining whether the satellite navigation positioning of the vehicle accords with the wireless positioning of the cellular network according to the wireless position information of the cellular network and the satellite navigation position information.
3. The method of claim 2, wherein said determining whether the satellite navigation positioning of the vehicle is compliant with the cellular network radio positioning based on the cellular network radio position information and the satellite navigation position information comprises:
determining a position distance according to the wireless position information of the cellular network and the satellite navigation position information;
and when the position distance is smaller than or equal to a preset distance threshold value, determining that satellite navigation positioning of the vehicle accords with wireless positioning of a cellular network.
4. The method of claim 3, wherein said determining a location distance from said cellular network wireless location information and said satellite navigation location information further comprises:
updating a position detection count when the position distance is greater than the preset distance threshold;
when the position detection count is smaller than a preset position detection threshold value, acquiring new cellular network wireless position information and new satellite navigation position information, and returning to execute the step of determining the position distance based on the cellular network wireless position information and the satellite navigation position information;
And when the position detection count is greater than or equal to the preset position detection threshold, determining that satellite navigation positioning of the vehicle does not accord with wireless positioning of a cellular network.
5. The method of claim 1, wherein the fraud detection method further comprises:
and when the satellite navigation positioning of the vehicle does not accord with the wireless positioning of the cellular network, determining that the satellite navigation positioning of the vehicle has deception jamming.
6. The method of claim 1, wherein the determining whether satellite navigation positioning of the vehicle meets inertial navigation positioning based on inertial navigation positioning of the vehicle comprises:
acquiring inertial navigation track information based on inertial navigation positioning of the vehicle, and acquiring satellite navigation track information based on satellite navigation positioning of the vehicle;
and determining whether the satellite navigation positioning of the vehicle accords with the inertial navigation positioning according to the satellite navigation track information and the inertial navigation track information.
7. The method of claim 6, wherein determining whether satellite navigation positioning of the vehicle meets inertial navigation positioning based on the satellite navigation track information and the inertial navigation track information comprises:
Determining the track overlap ratio according to the satellite navigation track information and the inertial navigation track information;
and when the track overlap ratio is smaller than a preset overlap threshold, determining that satellite navigation positioning of the vehicle does not accord with inertial navigation positioning.
8. The method of claim 7, wherein determining the track overlap ratio based on the satellite navigation track information and the inertial navigation track information further comprises:
updating the track detection count when the track overlap ratio is greater than or equal to the preset overlap threshold;
when the track detection count is smaller than a preset track detection threshold value, acquiring new satellite navigation track information and new inertial navigation track information, and returning to execute the step of determining the track overlap ratio based on the satellite navigation track information and the inertial navigation track information;
and when the track detection count is greater than or equal to the preset track detection threshold, determining that satellite navigation positioning of the vehicle accords with inertial navigation positioning.
9. A fraud detection apparatus, comprising:
the cellular network detection module is used for determining whether satellite navigation positioning of the vehicle accords with cellular network wireless positioning or not based on the cellular network wireless positioning of the vehicle;
The inertial navigation detection module is used for determining whether the satellite navigation positioning of the vehicle accords with the inertial navigation positioning based on the inertial navigation positioning of the vehicle when the satellite navigation positioning of the vehicle accords with the wireless positioning of the cellular network;
the inertial navigation detection module is further used for determining that the satellite navigation positioning of the vehicle is deceptive and disturbed when the satellite navigation positioning of the vehicle does not accord with the inertial navigation positioning.
10. A car networking system, characterized in that it comprises a fraud detection apparatus according to claim 9 and applies the steps of the fraud stem detection method according to any of claims 1 to 8.
CN202311380251.2A 2023-10-23 2023-10-23 Deception jamming detection method and device and Internet of vehicles system Pending CN117434557A (en)

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Application Number Priority Date Filing Date Title
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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311380251.2A CN117434557A (en) 2023-10-23 2023-10-23 Deception jamming detection method and device and Internet of vehicles system

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