WO2020224435A1 - 基于先验信息的卫星导航欺骗干扰检测方法、系统及设备 - Google Patents
基于先验信息的卫星导航欺骗干扰检测方法、系统及设备 Download PDFInfo
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- WO2020224435A1 WO2020224435A1 PCT/CN2020/086067 CN2020086067W WO2020224435A1 WO 2020224435 A1 WO2020224435 A1 WO 2020224435A1 CN 2020086067 W CN2020086067 W CN 2020086067W WO 2020224435 A1 WO2020224435 A1 WO 2020224435A1
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- navigation signal
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- current output
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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
Definitions
- This application relates to the field of radio navigation, in particular to a satellite navigation deception interference detection method based on prior information, a satellite navigation signal processing system, satellite navigation signal processing equipment, electronic equipment and computer storage media.
- Satellite navigation systems have become a national infrastructure and have penetrated into all aspects of people’s lives; especially since entering the era of intelligence, location services based on satellite navigation have become indispensable. .
- the power of the navigation signals transmitted by satellites to the ground is very weak, and the structure of civil navigation signals is open, which is easy to be interfered and deceived. Among them, the deception signals are more concealed and the harm is more serious.
- Conventional radio detection methods cannot detect the existence of deception signals.
- common deception detection methods mainly include multi-peak detection, signal quality detection, etc., but they cannot guarantee reliable detection of deception signals.
- embodiments of the present application provide a satellite navigation deception interference detection method based on prior information, a satellite navigation signal processing system, a satellite navigation signal processing device, electronic equipment, and a computer storage medium.
- the prior information includes: the known position of the navigation signal receiving antenna, At least one of the known speed of the navigation signal receiving antenna, the known relative position between different navigation signal receiving antennas, and the known relative speed between different navigation signal receiving antennas.
- comparing the current output parameter information of the navigation signal receiving antenna with the corresponding prior information, and determining whether there is satellite navigation signal deception interference according to the comparison result includes:
- the current output parameter information of the navigation signal receiving antenna is sent to the processing device, so that the processing device compares the current output parameter information of the navigation signal receiving antenna with the corresponding prior information, and determines whether or not according to the comparison result There is spoofing interference from satellite navigation signals.
- the current output parameter information of the navigation signal receiving antenna includes at least one of the current output position and the current output speed, and the current output parameter information of the navigation signal receiving antenna.
- the satellite navigation signal is obtained by processing the satellite navigation signal;
- the current output parameter information of the navigation signal receiving antenna is compared with the corresponding prior information, and it is determined whether there is satellite navigation signal deception interference according to the comparison result.
- the prior information includes: the known position of the navigation signal receiving antenna, navigation At least one of the known speed of the signal receiving antenna, the known relative position between different navigation signal receiving antennas, and the known relative speed between different navigation signal receiving antennas.
- the a priori information includes: a known position and/or a known speed of a navigation signal receiving antenna.
- a known position and/or a known speed of a navigation signal receiving antenna When the current output position and/or current output speed of more than one navigation signal receiving antenna, and the known position and/or known speed error corresponding to the navigation signal receiving antenna is greater than a predetermined threshold, it is determined that there is a satellite navigation signal Deception interference.
- the number of the navigation signal receiving antennas is at least two; in the methods of the foregoing embodiments, the a priori information includes: the known position of each navigation signal receiving antenna, and the known position of each navigation signal receiving antenna Know the location is different. When the current output positions of any two navigation signal receiving antennas are the same, it is determined that there is satellite navigation signal deception interference.
- the number of the navigation signal receiving antennas is at least two; in the methods of the foregoing embodiments, the a priori information includes: the known speed of each navigation signal receiving antenna, and the known speed of each navigation signal receiving antenna Know the speed is different. When the current output speeds of any two navigation signal receiving antennas are the same, it is determined that there is satellite navigation signal deception interference.
- the number of the navigation signal receiving antennas is at least two; in the methods of the foregoing embodiments, the prior information includes: known relative distances between different navigation signal receiving antennas.
- the current relative distance determined based on the current output positions of any two navigation signal receiving antennas, and the difference between the known relative distances corresponding to the two navigation signal receiving antennas reaches the distance difference threshold it is determined that there is a satellite The navigation signal deceives interference.
- the number of the navigation signal receiving antennas is at least two; in the methods of the foregoing embodiments, the prior information includes: known relative speeds between different navigation signal receiving antennas.
- the absolute value of the current relative speed determined based on the current output speed of any two navigation signal receiving antennas the difference between the absolute value of the known relative speed corresponding to the two navigation signal receiving antennas reaches the absolute speed value
- the threshold is set, it is determined that there is spoofing interference from satellite navigation signals.
- the number of the navigation signal receiving antennas is at least two; in the methods of the foregoing embodiments, the prior information includes: known relative positions between different navigation signal receiving antennas.
- the current relative position determined based on the current output positions of any two navigation signal receiving antennas, and the difference between the known relative positions corresponding to the two navigation signal receiving antennas reaches the difference threshold, it is determined that there is satellite navigation signal deception interference.
- the number of the navigation signal receiving antennas is at least two; in the methods of the foregoing embodiments, the prior information includes: the known relative speeds between different navigation signal receiving antennas, when based on any two navigation signal receiving antennas.
- the current relative speed determined by the current output speed of the signal receiving antenna, and when the difference between the known relative speeds corresponding to the two navigation signal receiving antennas reaches the speed difference threshold, it is determined that there is satellite navigation signal deception interference.
- the obtained detection result is also filtered, and filtering methods such as window filtering and Kalman filtering may be used for filtering. , Make the test result more reliable.
- At least one navigation signal receiving antenna, and navigation signal receiving equipment At least one navigation signal receiving antenna, and navigation signal receiving equipment
- the navigation signal receiving antenna receives satellite navigation signals in real time
- the navigation signal receiving device processes the satellite navigation signal to obtain current output parameter information of the navigation signal receiving antenna, and the current output parameter information includes at least one of the current output position and the current output speed;
- the current output parameter information of the signal receiving antenna is sent to the processing device, so that the processing device compares the current output parameter information of the navigation signal receiving antenna with corresponding prior information, and determines whether there is satellite navigation signal deception interference according to the comparison result,
- the prior information includes: the known position of the navigation signal receiving antenna, the known speed of the navigation signal receiving antenna, the known relative position between different navigation signal receiving antennas, and the known relative speed between different navigation signal receiving antennas. At least one.
- system further includes the processing device.
- the number of navigation signal receiving devices is one.
- the navigation signal receiving antenna is installed on a carrier, and at least one of the navigation signal receiving antenna is installed on each carrier.
- the number of the navigation signal receiving antennas is at least two; two or more antennas are connected to the same navigation signal receiving device.
- the carrier can be a fixed carrier or a movable carrier.
- a satellite navigation signal processing device in an embodiment, the device includes: at least one navigation signal receiving antenna, and a navigation signal receiving device, where the navigation signal receiving antenna receives satellite navigation signals in real time;
- the navigation signal receiving device processes the satellite navigation signal to obtain current output parameter information of the navigation signal receiving antenna.
- the current output parameter information includes at least one of the current output position and the current output speed, and the navigation
- the current output parameter information of the signal receiving antenna is compared with corresponding prior information, and it is determined whether there is satellite navigation signal deception interference according to the comparison result.
- the prior information includes: the known position of the navigation signal receiving antenna and the navigation signal At least one of the known speed of the receiving antenna, the known relative position between different navigation signal receiving antennas, and the known relative speed between different navigation signal receiving antennas.
- An electronic device includes a memory and a processor, and the memory stores a computer program.
- the processor executes the computer program, the steps of the method described above are implemented.
- a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of the above method are realized.
- a detection method based on prior information is adopted to complete the detection of whether there is satellite navigation signal deception interference, and the result is reliable. Moreover, the detection can be performed based on a variety of prior information, and the convenient prior information can be selected according to the actual situation, which is simple and easy.
- Fig. 1 is a schematic flowchart of a satellite navigation deception interference detection method based on a priori information in an embodiment.
- Fig. 2 is a schematic flowchart of another embodiment of a satellite navigation deception jamming detection method based on prior information.
- Fig. 3 is a schematic flowchart of another embodiment of a satellite navigation deception jamming detection method based on prior information.
- Fig. 4 is a schematic structural diagram of a satellite navigation signal processing system according to an embodiment.
- Figure 5 is a schematic diagram of a dual-antenna known speed detection of an application example.
- Fig. 6 is a schematic diagram of a single antenna known position and/or velocity detection of an application example.
- Fig. 7 is a schematic diagram of the internal structure of an electronic device in an embodiment.
- the satellite navigation signal spoofing interference detection method in one embodiment includes the following steps S11 to S13.
- Step S11 Obtain satellite navigation signals received in real time through at least one navigation signal receiving antenna.
- each navigation signal receiving antenna is connected to one navigation signal receiving device, or multiple antennas are connected to one navigation signal receiving device.
- Each satellite navigation signal receiving antenna is installed on the carrier, and the installation position of each antenna is different, and the specific installation position can be arranged according to the needs of the detection scene.
- the carrier may be a fixed position carrier or a movable carrier, so that the solution of the embodiment of the present application can be applied to both dynamic scenes and static scenes.
- the satellite navigation signal received in real time by the navigation signal receiving antenna may be a GNSS Global Navigation Satellite System (Global Navigation Satellite System) satellite navigation signal.
- Global Navigation Satellite System Global Navigation Satellite System
- Step S12 Process each of the satellite navigation signals to obtain current output parameter information of each navigation signal receiving antenna, where the current output parameter information includes at least one of a current output position and a current output speed.
- the satellite navigation signal can be processed in any possible manner to obtain the current output position and current output speed of each navigation signal receiving antenna.
- the satellite navigation signal may be processed by the navigation signal receiving device to obtain the current output position and current output speed of each navigation signal receiving antenna.
- the prior information includes, but is not limited to: the known position of each navigation signal receiving antenna, the known speed of each navigation signal receiving antenna, the known relative position between different navigation signal receiving antennas, and the known position between different navigation signal receiving antennas. Know the relative distance, at least one of the known relative speed between different navigation signal receiving antennas.
- the selected a priori information may include: a known position and/or a known speed of each navigation signal receiving antenna. At this time, when the current output position and/or current output speed of more than one navigation signal receiving antenna, and the known position and/or known speed error corresponding to the navigation signal receiving antenna is greater than a predetermined threshold, it is determined that there is satellite navigation Signal deception interference.
- the position of the i-th antenna is known And/or speed If the current output position of the navigation signal receiving device With known location Error (difference) and/or current output speed With known speed When the error (difference) between is greater than a predetermined threshold, and at least one (one or more) navigation signal receiving antennas have this phenomenon, it is considered that there is satellite navigation signal deception interference.
- the current output position With known location The predetermined threshold corresponding to the error of the current output speed With known speed
- the value of the predetermined threshold corresponding to the error may be different.
- the setting of the predetermined threshold can be selected and determined according to the positioning accuracy and/or speed measurement accuracy of the adopted navigation signal receiving device. If the satellite navigation signal receiving antenna is installed on a moving object, the corresponding a priori known position and/or known position can be obtained by other sensors, which is not specifically limited in the embodiment of the present application.
- the selected a priori information may include: the known position of each navigation signal receiving antenna, and the known positions of each navigation signal receiving antenna are different. At this time, when the current output positions of any two navigation signal receiving antennas are the same, it is determined that there is satellite navigation signal deception interference.
- each navigation signal receiving antenna is known, Is the known position of the i-th antenna, Is the known position of the jth antenna, and Is the current output position of each navigation signal receiving antenna output by each navigation signal receiving device, N is the number of antennas, if there are one or more , It is considered that there is deception interference.
- the selected a priori information may include: the known speed of each navigation signal receiving antenna, and the known speed of each navigation signal receiving antenna is different. At this time, when the current output speeds of any two navigation signal receiving antennas are the same, it is determined that there is satellite navigation signal deception interference.
- the speed of each navigation signal receiving antenna is known, Is the known velocity of the i-th antenna, Is the known velocity of the jth antenna, and Is the current output speed of each navigation signal receiving antenna output by each navigation signal receiving device, N is the number of antennas, if there are one or more It is considered that there is deception interference.
- the selected prior information may include: the known relative distances between different navigation signal receiving antennas. At this time, when the current relative distance determined based on the current output positions of any two navigation signal receiving antennas, the difference between the known relative distances corresponding to the two navigation signal receiving antennas reaches the distance difference threshold, Determine the presence of satellite navigation signal spoofing interference.
- the distance difference threshold can be set to be sufficiently large.
- the selected prior information may include: the modulus of the known relative velocity difference between different navigation signal receiving antennas.
- the modulus of the current relative speed difference determined based on the current output speed of any two navigation signal receiving antennas
- the difference between the modulus of the known relative speed difference corresponding to the two navigation signal receiving antennas When the value reaches the relative velocity modulus threshold, it is determined that there is satellite navigation signal deception interference.
- the relative velocity modulus threshold can be set to be sufficiently large.
- Vij is the speed difference between the i-th and j-th antennas.
- N is the number of antennas, if there are one or more , It is considered that there is deception interference.
- the selected a priori information may include: known relative positions between different navigation signal receiving antennas. At this time, when the current relative position determined based on the current output positions of any two navigation signal receiving antennas, and the difference between the known relative positions corresponding to the two navigation signal receiving antennas reaches the difference threshold, it is determined that there is a satellite The navigation signal deceives interference.
- N is the number of antennas, if there are one or more versus If there is a big difference between them, it is considered that there is deception interference.
- the selected a priori information may include: the known relative speeds between different navigation signal receiving antennas, when the current relative speed determined based on the current output speeds of any two navigation signal receiving antennas, and the two When the difference between the known relative velocities corresponding to the two navigation signal receiving antennas reaches the velocity difference threshold, it is determined that there is satellite navigation signal deception interference.
- Vij is the speed difference between the i-th and j-th antennas. Is the current output speed of each navigation signal receiving antenna output by each satellite navigation signal receiving device, N is the number of antennas, if there are one or more versus If there is a big difference between them, it is considered that there is deception interference.
- prior information take several kinds of prior information as examples. It can be understood that the above-mentioned various prior information can also be combined to comprehensively determine whether there is satellite navigation signal deception interference. When combining, the judgment conditions corresponding to different prior information can be judged to have satellite navigation signal spoofing interference when met at the same time, or it can be judged that there is satellite navigation signal spoofing interference when any one is met, or other combinations can be used. Relationship to comprehensively determine whether there is satellite navigation signal deception interference.
- the obtained detection result can be further filtered to increase the reliability of the detection result.
- Any possible filtering algorithm can be used for filtering processing, such as window filtering and Kalman filtering.
- the method in the above-mentioned embodiment may be executed on one device, or may be executed by different devices.
- the satellite navigation deception interference detection method based on a priori information in an embodiment can be executed by the navigation signal receiving device mentioned in each embodiment of this application, and includes the following steps S21 to Step S23.
- Step S21 Obtain satellite navigation signals received in real time through at least one navigation signal receiving antenna.
- step S21 may be the same as that of step S11 described above.
- Step S22 Process each of the satellite navigation signals to obtain current output parameter information of each navigation signal receiving antenna, where the current output parameter information includes at least one of a current output position and a current output speed.
- step S22 may be the same as the implementation process of step S12 described above.
- Step S23 Send the current output parameter information of each navigation signal receiving antenna to a processing device, so that the processing device compares the current output parameter information of at least one navigation signal receiving antenna with corresponding prior information , According to the comparison result, determine whether there is satellite navigation signal deception interference.
- the current output parameter information of each navigation signal receiving antenna can be sent to the processing device in various possible ways, such as a wired way or a wireless way.
- the processing device here may be any device capable of comparing the current output parameter information of at least one navigation signal receiving antenna with corresponding prior information, and determining whether there is satellite navigation signal deception interference based on the comparison result.
- the processing device compares the current output parameter information of at least one navigation signal receiving antenna with corresponding prior information, and determines whether there is satellite navigation signal deception interference according to the comparison result
- the method can be the same as the method in step S13 above.
- the satellite navigation deception interference detection method based on a priori information in an embodiment can be executed by the processing device as described above, or when the navigation signal receiving device has processing capabilities,
- the navigation signal receiving device is executed, and the navigation signal receiving device herein may refer to the navigation signal receiving device mentioned in the embodiments of the present application.
- the method in this embodiment includes the following steps S31 to S32.
- Step S31 Obtain current output parameter information of each navigation signal receiving antenna, where the current output parameter information includes at least one of the current output position and the current output speed, and the current output parameter information of each navigation signal receiving antenna is passed through at least A satellite navigation signal received by a navigation signal receiving antenna in real time is obtained by processing each of the satellite navigation signals.
- the current output position and current output speed of each navigation signal receiving antenna can be obtained in various possible ways.
- the navigation signal receiving device may obtain the satellite navigation signals received in real time by at least one navigation signal receiving antenna, and then process the satellite navigation signals to obtain navigation signal reception.
- the current output position and current output speed of the antenna may be obtained.
- the processing device may obtain the current output position and current output speed of each navigation signal receiving antenna from the navigation signal receiving device.
- the processing device may also be obtained in other ways.
- Step S32 Compare the previous output parameter information of the at least one navigation signal receiving antenna with the corresponding prior information, and determine whether there is satellite navigation signal deception interference according to the comparison result.
- the method of comparing the current output parameter information of the at least one navigation signal receiving antenna with the corresponding prior information, and determining whether there is satellite navigation signal spoofing interference according to the comparison result can be the same as the method in step S13.
- the satellite navigation signal processing system in an embodiment of the present application includes: at least one navigation signal receiving antenna and a navigation signal receiving device.
- the satellite navigation signal processing system may further include the processing device shown in FIG. 4.
- the navigation signal receiving antenna receives satellite navigation signals in real time.
- the navigation signal receiving device processes the satellite navigation signal to obtain current output parameter information of each navigation signal receiving antenna.
- the current output parameter information includes at least one of a current output position and a current output speed.
- the processing device compares the current output parameter information of at least one navigation signal receiving antenna with corresponding prior information, and determines whether there is satellite navigation signal deception interference according to the comparison result, and the prior information includes: each navigation signal receiving antenna At least one of the known position of the, the known speed of each navigation signal receiving antenna, the known relative position between different navigation signal receiving antennas, and the known relative speed between different navigation signal receiving antennas.
- the navigation signal receiving device processes the satellite navigation signal to obtain the current output position and current output speed of each navigation signal receiving antenna, and the processing device outputs the current output of at least one navigation signal receiving antenna
- the parameter information is compared with the corresponding prior information, and the manner of determining whether there is satellite navigation signal spoofing interference according to the comparison result can be the same as in the foregoing method embodiment.
- each navigation signal receiving antenna may be connected to one navigation signal receiving device, or two or more antennas may be connected to the same navigation signal.
- the receiving device can also exist in both situations.
- Each satellite navigation signal receiving antenna is installed on the carrier, and the installation position of each antenna is different, and the specific installation position can be arranged according to the needs of the detection scene.
- the carrier may be a fixed position carrier or a movable carrier, so that the solution of the embodiment of the present application can be applied to both dynamic scenes and static scenes.
- antenna 1 and antenna 2 are installed at both ends of a cross bar supported by a vertical pole.
- antenna 1 antenna 2 position with Known and fixed installation
- the current output position corresponding to antenna 1 is The current output position corresponding to antenna 2 is Without interference And After being deceived by satellite navigation If this condition is met, it is judged that there is deception interference. It can be understood that this judgment method is also applicable when there are multiple antennas.
- the crossbar can rotate in the plane of the crossbar at an angular velocity ⁇ .
- the current output speeds corresponding to antenna 1 and antenna 2 are And in the opposite direction r is the radius of rotation. In the presence of deceptive interference If this condition is met, it is judged that there is deception interference.
- the antenna 1 is installed at the far end of the crossbar supported by the vertical pole.
- the crossbar can rotate in the plane of the crossbar at an angular velocity ⁇ , and the center of rotation is If the radius of rotation r is known, then according to the law of motion, the true position of antenna 1 at any time and / or Current output position corresponding to antenna 1 And/or current output speed Should be met under normal conditions In the presence of deceptive interference and / or If this condition is met, it is judged that there is deception interference.
- the threshold values ⁇ p and ⁇ p can be set according to the positioning accuracy and/or speed measurement accuracy of the satellite navigation signal receiving equipment used.
- the navigation signal receiving device when the navigation signal receiving device has processing capabilities, processes the satellite navigation signal to obtain current output parameter information of each navigation signal receiving antenna, and the current output parameter information It includes at least one of the current output position and the current output speed, and compares the current output parameter information of at least one navigation signal receiving antenna with the corresponding prior information, and determines whether there is satellite navigation signal deception interference according to the comparison result .
- the detection scheme based on a priori information based on the above-mentioned embodiments of the present application has reliable results.
- a variety of prior information combinations can be used for judgment, and the convenient prior information can be selected according to the actual situation, which is simple and easy. It can be applied to both static scenes and dynamic scenes, and can be applied to various possible environments.
- an electronic device is provided.
- the electronic device may be a terminal or a server, and its internal structure diagram may be as shown in FIG. 7.
- the electronic device includes a processor, a memory, and a network interface connected through a system bus.
- the electronic device When the electronic device is a terminal, it may also include a display screen and an input device.
- the processor of the electronic device is used to provide calculation and control capabilities.
- the memory of the electronic device includes a non-volatile storage medium and an internal memory.
- the non-volatile storage medium stores an operating system and a computer program.
- the internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium.
- the network interface of the electronic device is used to communicate with an external terminal through a network connection.
- the computer program is executed by the processor to realize the satellite navigation spoofing interference detection method based on a priori information in the above embodiment.
- the display screen of the electronic device can be a liquid crystal display screen or an electronic ink display screen
- the input device of the electronic device can be a touch layer covered on the display screen, or a button, trackball or touch pad set on the computer device shell , It can also be an external keyboard, touchpad, or mouse.
- FIG. 7 is only a block diagram of part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied.
- the specific computer device may Including more or fewer parts than shown in the figure, or combining some parts, or having a different arrangement of parts.
- an electronic device including a memory and a processor, and a computer program is stored in the memory.
- the processor executes the computer program, any one of the satellites based on a priori information as described above is implemented.
- Navigation deception interference detection method When the processor executes the computer program, any one of the satellites based on a priori information as described above is implemented.
- Non-volatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
- Volatile memory may include random access memory (RAM) or external cache memory.
- RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Channel (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.
- a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, any one of the above-mentioned satellite navigation deception jamming detection methods based on prior information is implemented.
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Abstract
一种基于先验信息的卫星导航欺骗干扰检测方法、卫星导航信号处理系统和卫星导航信号处理设备，该方法包括：获取通过至少一个导航信号接收天线实时接收的卫星导航信号（S11）；对各卫星导航信号进行处理，获得各导航信号接收天线的当前输出参数信息，该当前输出参数信息包括当前输出位置和当前输出速度中的至少一种（S12）；将至少一个导航信号接收天线的当前输出参数信息，与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰（S13）。采用基于先验信息的检测方法来完成对是否存在卫星导航信号欺骗干扰的检测，结果可靠。
Description
本申请涉及无线电导航领域，尤其涉及一种基于先验信息的卫星导航欺骗干扰检测方法、卫星导航信号处理系统、卫星导航信号处理设备、电子设备及计算机存储介质。
自20世纪70年代以来，卫星导航系统得到了飞速的发展，卫星导航系统已经成为国家基础设施，深入到了大众生活的方方面面；尤其是进入智能时代以来，基于卫星导航的位置服务更是不可或缺。但是由于卫星发射的导航信号到达地面的功率非常微弱，且民用导航信号结构公开，容易被干扰和欺骗，其中欺骗信号更为隐蔽，危害更为严重，常规无线电探测手段无法发现欺骗信号的存在。目前常用欺骗检测方法主要包括多峰检测、信号质量检测等，但是均无法保证可靠的检测欺骗信号。
因此如何可靠检测欺骗信号的存在成为智能时代实现可信位置服务的重要内容。
发明内容
针对现有技术的不足，本申请实施例提供一种基于先验信息的卫星导航欺骗干扰检测方法、卫星导航信号处理系统、卫星导航信号处理设备、电子设备及计算机存储介质。
一个实施例的基于先验信息的卫星导航欺骗干扰检测方法，包括:
获取通过导航信号接收天线实时接收的卫星导航信号；
对所述卫星导航信号进行处理，获得导航信号接收天线的当前输出参数信息，所述当前输出参数信息包括当前输出位置和当前输出速度中的至少一种；
将导航信号接收天线的所述当前输出参数信息，与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰，所述先验信息包括：导航信号接收天线的已知位置、导航信号接收天线的已知速度、不同导航信号接收天线间的已知相对位置、不同导航信号接收天线间的已知相对速度中的至少一种。
一个实施例中，将导航信号接收天线的所述当前输出参数信息，与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰，包括：
将导航信号接收天线的所述当前输出参数信息发送给处理设备，以使得所述处理设备将导航信号接收天线的所述当前输出参数信息，与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰。
一个实施例的基于先验信息的卫星导航欺骗干扰检测方法，包括:
获取导航信号接收天线的当前输出参数信息，所述当前输出参数信息包括当前输出位置和当前输出速度中的至少一种，导航信号接收天线的当前输出参数信息，通过获取通过导航信号接收天线实时接收的卫星导航信号，对所述卫星导航信号进行处理获得；
将导航信号接收天线的所述当前输出参数信息与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰，所述先验信息包括：导航信号接收天线的已知位置、导航信号接收天线的已知速度、不同导航信号接收天线间的已知相对位置、不同 导航信号接收天线间的已知相对速度中的至少一种。
进一步地，在上述各实施例的方法中，所述先验信息包括：导航信号接收天线的已知位置和/或已知速度。当一个以上的导航信号接收天线的所述当前输出位置和/或当前输出速度，与该导航信号接收天线对应的已知位置和/或已知速度的误差大于预定阈值时，确定存在卫星导航信号欺骗干扰。
进一步地，所述导航信号接收天线的数目为至少两个；在上述各实施例的方法中，所述先验信息包括：各导航信号接收天线的已知位置，且各导航信号接收天线的已知位置不同。当任意两个导航信号接收天线的所述当前输出位置相同时，确定存在卫星导航信号欺骗干扰。
进一步地，所述导航信号接收天线的数目为至少两个；在上述各实施例的方法中，所述先验信息包括：各导航信号接收天线的已知速度，且各导航信号接收天线的已知速度不同。当任意两个导航信号接收天线的所述当前输出速度相同时，确定存在卫星导航信号欺骗干扰。
进一步地，所述导航信号接收天线的数目为至少两个；在上述各实施例的方法中，所述先验信息包括：不同导航信号接收天线间的已知相对距离。当基于任意两个导航信号接收天线的所述当前输出位置确定的当前相对距离，与该两个导航信号接收天线对应的已知相对距离之间的差值达到距离差值阈值时，确定存在卫星导航信号欺骗干扰。
进一步地，所述导航信号接收天线的数目为至少两个；在上述各实施例的方法中，所述先验信息包括：不同导航信号接收天线间的已知相对速度。当基于任意两个导航信号接收天线的所述当前输出速度确定的当前相对速度的绝对值，与该两个导航信号接收天线对应的已知相对速度的绝对值之间的差值达到速度绝对值阈值时，确定存在卫星导航信号欺骗干扰。
进一步地，所述导航信号接收天线的数目为至少两个；在上述各实施例的方法中，所述先验信息包括：不同导航信号接收天线间的已知相对位置。当基于任意两个导航信号接收天线的所述当前输出位置确定的当前相对位置，与该两个导航信号接收天线对应的已知相对位置之间的差异达到差异阈值时，确定存在卫星导航信号欺骗干扰。
进一步地，所述导航信号接收天线的数目为至少两个；在上述各实施例的方法中，所述先验信息包括：不同导航信号接收天线间的已知相对速度，当基于任意两个导航信号接收天线的所述当前输出速度确定的当前相对速度，与该两个导航信号接收天线对应的已知相对速度之间的差值达到速度差值阈值时，确定存在卫星导航信号欺骗干扰。
进一步地，在上述各实施例的方法中，可以采用上述多种先验信息组合判断。
进一步地，在上述各实施例的方法中，在根据比较结果确定是否存在卫星导航信号欺骗干扰之后，还对获得的检测结果进行滤波处理，可以采用窗型滤波、卡尔曼滤波等滤波方式进行滤波，使检测结果的更加可靠。
一个实施例的卫星导航信号处理系统，包括：
至少一个导航信号接收天线，以及导航信号接收设备；
所述导航信号接收天线实时接收卫星导航信号；
所述导航信号接收设备，对所述卫星导航信号进行处理，获得导航信号接收天线的当前输出参数信息，所述当前输出参数信息包括当前输出位置和当前输出速度中的至少 一种；并将导航信号接收天线的当前输出参数信息发送给处理设备，以使得所述处理设备将导航信号接收天线的当前输出参数信息与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰，所述先验信息包括：导航信号接收天线的已知位置、导航信号接收天线的已知速度、不同导航信号接收天线间的已知相对位置、不同导航信号接收天线间的已知相对速度中的至少一种。
一个实施例中，所述系统还包括所述处理设备。
进一步地，导航信号接收设备的数目为1个。
进一步地，所述导航信号接收天线安装在载体上，每个载体上安装有至少一个所述导航信号接收天线。在一些实施例中，所述导航信号接收天线的数目为至少两个；两个以上的天线连接到同一个导航信号接收设备。载体可以是固定载体，也可以是可移动载体。
一个实施例中的卫星导航信号处理设备，所述设备包括：至少一个导航信号接收天线，以及导航信号接收设备，所述导航信号接收天线实时接收卫星导航信号；
所述导航信号接收设备，对所述卫星导航信号进行处理，获得导航信号接收天线的当前输出参数信息，所述当前输出参数信息包括当前输出位置和当前输出速度中的至少一种，并将导航信号接收天线的所述当前输出参数信息，与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰，所述先验信息包括：导航信号接收天线的已知位置、导航信号接收天线的已知速度、不同导航信号接收天线间的已知相对位置、不同导航信号接收天线间的已知相对速度中的至少一种。
一种电子设备，包括存储器和处理器，所述存储器存储有计算机程序，其中，所述处理器执行所述计算机程序时，实现如上所述方法的步骤。
一种计算机可读存储介质，其上存储有计算机程序，其中，所述计算机程序被处理器执行时，实现如上所述方法的步骤。
基于如上所述的实施例的方案，其针对卫星导航欺骗干扰的特点，采用基于先验信息的检测方法来完成对是否存在卫星导航信号欺骗干扰进行检测，结果可靠。而且，可以基于多种先验信息进行检测，可以根据实际情况选择方便使用的先验信息，简单易行。
图1为一个实施例的基于先验信息的卫星导航欺骗干扰检测方法的流程示意图。
图2为另一个实施例的基于先验信息的卫星导航欺骗干扰检测方法的流程示意图。
图3为另一个实施例的基于先验信息的卫星导航欺骗干扰检测方法的流程示意图。
图4为一个实施例的卫星导航信号处理系统的结构示意图。
图5为一个应用示例的双天线已知速度检测示意图。
图6为一个应用示例的单天线已知位置和/或速度检测示意图。
图7为一个实施例中的电子设备的内部结构示意图。
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例 中的附图，对本发明实施例的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部实施例。基于本发明的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
以下将结合说明书附图和具体实施例对本发明做进一步详细说明。
如图1所示，一个实施例中的卫星导航信号欺骗干扰检测方法，包括下述步骤S11至步骤S13。
步骤S11：获取通过至少一个导航信号接收天线实时接收的卫星导航信号。
其中，存在一个或多个(如两个以上)导航信号接收天线，每个导航信号接收天线连接一个导航信号接收设备，也可以是多个天线连接到一个导航信号接收设备。
各卫星导航信号接收天线安装在载体上，且各天线的安装位置不同，，具体的安装位置可以根据检测场景需要进行布置。存在一个或多个载体，每个载体上安装有至少一个卫星导航信号接收天线。其中，载体可以是固定位置载体，也可以是可移动载体，从而本申请实施例方案既可以适用于动态场景，也可以适用于静态场景。
通过导航信号接收天线实时接收的卫星导航信号，可以是GNSS Global Navigation Satellite System，全球导航卫星系统)卫星导航信号。
步骤S12：对各所述卫星导航信号进行处理，获得各导航信号接收天线的当前输出参数信息，所述当前输出参数信息包括当前输出位置和当前输出速度中的至少一种。
可以采用任何可能方式对卫星导航信号进行处理，以获得各导航信号接收天线的当前输出位置和当前输出速度。一些实施例中，可以通过导航信号接收设备对对卫星导航信号进行处理，以获得各导航信号接收天线的当前输出位置和当前输出速度。
S13：将至少一个导航信号接收天线的当前输出参数信息，与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰。
其中，先验信息包括但不限于：各导航信号接收天线的已知位置、各导航信号接收天线的已知速度、不同导航信号接收天线间的已知相对位置、不同导航信号接收天线间的已知相对距离、不同导航信号接收天线间的已知相对速度中的至少一种。
一些实施例中，基于所选用的先验信息的不同，在将至少一个导航信号接收天线的当前输出参数信息与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰时，可以有对应的比较和处理方式，以下就其中几种示例进行举例说明。
在一些实施例中，选用的先验信息可以包括：各导航信号接收天线的已知位置和/或已知速度。此时，当一个以上的导航信号接收天线的当前输出位置和/或当前输出速度，与该导航信号接收天线对应的已知位置和/或已知速度的误差大于预定阈值时，确定存在卫星导航信号欺骗干扰。
此时，已知第i个天线的位置
和/或速度
若导航信号接收设备当前输出位置
与已知位置
的误差(差值)和/或当前输出速度
与已知速度
之间的误差(差值)大于预定阈值，且至少一个(一个或多个)导航信号接收天线出现此现象时，则认为存在卫星导航信号欺骗干扰。
其中，当前输出位置
与已知位置
的误差对应的预定阈值，与当前输出速度
与已知速度
之间的误差对应的预定阈值的值可以不同。预定阈值的设定，可以根据所采用的导航信号接收设备的定位精度和/或测速精度选择确定。若卫星导航信号接收天线安装在移动物体，对应的先验的已知位置和/或已知位置可以通过其它传感器得到，本申请实施例不做具体限定。
在一些实施例中，选用的先验信息可以包括：各导航信号接收天线的已知位置，且各导航信号接收天线的已知位置不同。此时，当任意两个导航信号接收天线的当前输出位置相同时，确定存在卫星导航信号欺骗干扰。
可以理解，实际技术应用中，在对任意两个导航信号接收天线的当前输出位置相同进行判定时，会存在一定的可接受误差，可接受误差结合实际技术需要设定。例如，在两个导航信号接收天线的当前输出位置很相近时，也可以判定为是相同。
具体地，各导航信号接收天线的安装位置已知，
为第i个天线的已知位置，
为第j个天线的已知位置，且
为各导航信号接收设备输出的各导航信号接收天线的当前输出位置,N为天线数量，若存在一个或多个
，则认为存在欺骗干扰。
在一些实施例中，选用的先验信息可以包括：各导航信号接收天线的已知速度，且各导航信号接收天线的已知速度不同。此时，当任意两个导航信号接收天线的当前输出速度相同时，确定存在卫星导航信号欺骗干扰。
可以理解，实际技术应用中，在对任意两个导航信号接收天线的当前输出速度相同进行判定时，会存在一定的可接受误差，可接受误差结合实际技术需要设定。例如，在两个导航信号接收天线的当前输出速度很相近时，也可以判定为是相同。
具体地，各导航信号接收天线的速度已知，
为第i个天线的已知速度，
为第j个天线的已知速度，且
为各导航信号接收设备输出的各导航信号接收天线的当前输出速度,N为天线数量，若存在一个或多个
则认为存在欺骗干扰。
在一些实施例中，选用的先验信息可以包括：不同导航信号接收天线间的已知相对距离。此时，当基于任意两个导航信号接收天线的所述当前输出位置确定的当前相对距离，与该两个导航信号接收天线对应的已知相对距离之间的差值达到距离差值阈值时，确定存在卫星导航信号欺骗干扰。
其中，一些具体示例中，可以是在当前相对距离远小于对应的已知相对距离时，确定存在卫星导航信号欺骗干扰。此时距离差值阈值可以设置为足够大。
具体地，若两个或多个导航信号接收天线的相对距离关系
已知，|·|为对矢量的取模运算。
为各卫星导航信号接收设备输出的各导航信号接收天线的当前输出位置,N为天线数量，若存在一个或多个
则认为存在欺骗干扰。
在一些实施例中，选用的先验信息可以包括：不同导航信号接收天线间的已知相对速度差的模值。此时，当基于任意两个导航信号接收天线的所述当前输出速度确定的当前相对速度差的模值，与该两个导航信号接收天线对应的已知相对速度差的模值之间的差值达到相对速度模值阈值时，确定存在卫星导航信号欺骗干扰。
其中，一些具体示例中，可以是在当前相对速度差的模值，远小于对应的已知相对速度差的模值时，确定存在卫星导航信号欺骗干扰。此时相对速度模值阈值可以设置为足够大。
具体地，若两个或多个导航信号接收天线的相对速度
已知，V
ij为第i、j天线之间的速度差。
为各卫星导航信号接收设备输出的各导航信号接收天线的当前输出速度,N为天线数量，若存在一个或多个
，则认为存在欺骗干扰。
在一些实施例中，选用的先验信息可以包括：不同导航信号接收天线间的已知相对位置。此时，当基于任意两个导航信号接收天线的所述当前输出位置确定的当前相对位置，与该两个导航信号接收天线对应的已知相对位置之间的差异达到差异阈值时，确定存在卫星导航信号欺骗干扰。
具体地，若两个或多个导航信号接收天线相对位置关系
已知；
为各卫星导航信号接收设备输出的各导航信号接收天线的当前输出位置,N为天线数量，若存在一个或多个
与
间存在较大差异，则认为存在欺骗干扰。
在一些实施例中，选用的先验信息可以包括：不同导航信号接收天线间的已知相对速度，当基于任意两个导航信号接收天线的所述当前输出速度确定的当前相对速度，与该两个导航信号接收天线对应的已知相对速度之间的差值达到速度差值阈值时，确定存在卫星导航信号欺骗干扰。
具体地，若两个或多个卫星导航信号的相对速度
已知，V
ij为第i、j天线之间的速度差。
为各卫星导航信号接收设备输出的各导航信号接收天线的当前输出速度,N为天线数量，若存在一个或多个
与
间存在较大差异，则认为存在欺骗干扰。
上述以其中几种先验信息为例进行了举例说明。可以理解，也可以对上述多种先验信息进行组合，以综合判定是否存在卫星导航信号欺骗干扰。在组合时，不同先验信息对应的判定条件，可以是同时满足时即判定存在卫星导航信号欺骗干扰，也可以是任意一个满足时即判定存在卫星导航信号欺骗干扰，也可以是采用其他的组合关系来综合判定是否存在卫星导航信号欺骗干扰。
在获得了上述是否存在卫星导航信号欺骗干扰的检测结果之后，还可以进一步对 获得的检测结果进行滤波处理，以增加检测结果的可靠性。可以采用任何可能的滤波算法来进行滤波处理，例如窗型滤波和卡尔曼滤波。
如上所述的实施例的方法，可以是在一个设备上执行，也可以是分由不同的设备执行。
据此，参考图2所示，一个实施例中的基于先验信息的卫星导航欺骗干扰检测方法，该方法可以由本申请各实施例中提及的导航信号接收设备执行，包括下述步骤S21至步骤S23。
步骤S21：获取通过至少一个导航信号接收天线实时接收的卫星导航信号。
其中，步骤S21的具体实现过程可以与上述步骤S11的相同。
步骤S22：对各所述卫星导航信号进行处理，获得各导航信号接收天线的当前输出参数信息，所述当前输出参数信息包括当前输出位置和当前输出速度中的至少一种。
其中，步骤S22的具体实现过程可以与上述步骤S12的实现过程相同。
步骤S23：将各导航信号接收天线的所述当前输出参数信息发送给处理设备，以使得所述处理设备将至少一个导航信号接收天线的所述当前输出参数信息，与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰。
其中，可以通过各种可能的方式将各导航信号接收天线的当前输出参数信息发送给处理设备，例如有线方式或者无线方式。这里的处理设备可以是任何能够执行将至少一个导航信号接收天线的当前输出参数信息与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰的设备。
其中，在将各导航信号接收天线的当前输出参数信息之后，处理设备将至少一个导航信号接收天线的当前输出参数信息与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰的方式，可以与上述步骤S13中的方式相同。
参考图3所示，一个实施例中的基于先验信息的卫星导航欺骗干扰检测方法，可以是由如上所述的处理设备执行，在导航信号接收设备具备处理能力的情况下，也可以是由导航信号接收设备执行，这里的导航信号接收设备可以是指本申请各实施例中提及的导航信号接收设备。该实施例中的方法包括下述步骤S31至步骤S32。
步骤S31：获取各导航信号接收天线的当前输出参数信息，所述当前输出参数信息包括当前输出位置和当前输出速度中的至少一种，各导航信号接收天线的当前输出参数信息，通过获取通过至少一个导航信号接收天线实时接收的卫星导航信号，对各所述卫星导航信号进行处理获得。
其中，可以通过各种可能的方式获得各导航信号接收天线的当前输出位置和当前输出速度。如在本实施例的方法是由导航信号接收设备执行时，导航信号接收设备可以是获得至少一个导航信号接收天线实时接收的卫星导航信号之后，对各卫星导航信号进行处理，以获得导航信号接收天线的当前输出位置和当前输出速度。如在本实施例的方法是由处理设备执行时，处理设备可以是从导航信号接收设备获得各导航信号接收天线的当前输出位置和当前输出速度。在一些实施例中，处理设备也可以是通过其他的方式获得。
步骤S32：将至少一个导航信号接收天线的前输出参数信息与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰。
将至少一个导航信号接收天线的当前输出参数信息与对应的先验信息进行比较， 根据比较结果确定是否存在卫星导航信号欺骗干扰的方式，可以与上述步骤S13中的方式相同。
参考图4所示，本申请一个实施例中的卫星导航信号处理系统，包括：至少一个导航信号接收天线，以及导航信号接收设备。在一些实施例中，该卫星导航信号处理系统还可以包括图4中所示的处理设备。
导航信号接收天线实时接收卫星导航信号。
导航信号接收设备对卫星导航信号进行处理，获得各导航信号接收天线的当前输出参数信息，所述当前输出参数信息包括当前输出位置和当前输出速度中的至少一种。
处理设备将至少一个导航信号接收天线的所述当前输出参数信息，与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰，所述先验信息包括：各导航信号接收天线的已知位置、各导航信号接收天线的已知速度、不同导航信号接收天线间的已知相对位置、不同导航信号接收天线间的已知相对速度中的至少一种。
在本申请的一些实施例中，导航信号接收设备对对卫星导航信号进行处理，获得各导航信号接收天线的当前输出位置和当前输出速度的方式，处理设备将至少一个导航信号接收天线的当前输出参数信息与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰的方式，均可以与上述方法实施例中的相同。
一些实施例中，导航信号接收设备可以具有两个以上的多个，此时，可以是每个导航信号接收天线连接一个导航信号接收设备，也可以是两个以上的天线连接到同一个导航信号接收设备，也可以是两种情况同时存在。
各卫星导航信号接收天线安装在载体上，且各天线的安装位置不同，具体的安装位置可以根据检测场景需要进行布置。存在一个或多个载体，每个载体上安装有至少一个卫星导航信号接收天线。其中，载体可以是固定位置载体，也可以是可移动载体，从而本申请实施例方案既可以适用于动态场景，也可以适用于静态场景。
以有两个导航信号接收天线为例，如图5所示，天线1和天线2安装于由立杆支撑的横杆的两端。
在一个实施例中，天线1、天线2位置
和
已知，并且固定安装，与天线1对应的当前输出位置为
与天线2对应的当前输出位置为
在无干扰的情况下
且
在受到卫星导航欺骗干扰后
若满足此条件，则判断存在欺骗干扰。可以理解，在存在多天线的情况下，该判断方式同样适用。
在一个实施例中，横杆可以以一个角速度ω在横杆平面内转动，则在正常条件下，则天线1和天线2对应的当前输出速度为
且方向相反
r为旋转半径。在存在欺骗干扰时
若满足此条件，则判断存在欺骗干扰。
以有1个导航信号接收天线为例，如图6所示，天线1安装于由立杆支撑的横杆的远端，横杆可以以一个角速度ω在横杆平面内转动，旋转中心位置
旋转半径r已知，则根据运动规律可知，任意时刻天线1的真实位置
和/或
天线1对应的当前输出位置
和/或 当前输出速度
正常条件下应当满足
在存在欺骗干扰时
和/或
若满足此条件，则判断存在欺骗干扰。其中，阈值δ
p、δ
p的设定，可以根据所采用卫星导航信号接收设备的定位精度和/或测速精度选择。
在一些实施例中，在导航信号接收设备具备处理能力的情况下，该导航信号接收设备对所述卫星导航信号进行处理，获得各导航信号接收天线的当前输出参数信息，所述当前输出参数信息包括当前输出位置和当前输出速度中的至少一种，并将至少一个导航信号接收天线的所述当前输出参数信息，与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰。
针对卫星导航欺骗干扰的特点，基于如上所述的本申请的各实施例的基于先验信息的检测方案，结果可靠。可采用多种先验信息组合判断，根据实际情况选择方便使用的先验信息，简单易行。既可以适用于静态场景也可以使用于动态场景，可适用于各种可能的环境。
在一个实施例中，提供了一种电子设备，该电子设备可以是终端或者服务器，其内部结构图可以如图7所示。该电子设备包括通过系统总线连接的处理器、存储器、网络接口，在电子设备是终端时，还可以包括显示屏和输入装置。其中，该电子设备的处理器用于提供计算和控制能力。该电子设备的存储器包括非易失性存储介质、内存储器。该非易失性存储介质存储有操作系统和计算机程序。该内存储器为非易失性存储介质中的操作系统和计算机程序的运行提供环境。该电子设备的网络接口用于与外部的终端通过网络连接通信。该计算机程序被处理器执行时以实现如上所述实施例的基于先验信息的卫星导航欺骗干扰检测方法。该电子设备的显示屏可以是液晶显示屏或者电子墨水显示屏，该电子设备的输入装置可以是显示屏上覆盖的触摸层，也可以是计算机设备外壳上设置的按键、轨迹球或触控板，还可以是外接的键盘、触控板或鼠标等。
本领域技术人员可以理解，图7中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的计算机设备的限定，具体的计算机设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。
据此，在一个实施例中，提供了一种电子设备，包括存储器和处理器，存储器中存储有计算机程序，该处理器执行计算机程序时实现如上所述的任意一种基于先验信息的卫星导航欺骗干扰检测方法。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和/或易失性存储器。非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易失性存储器可包括随机存取存储器(RAM)或者外部高速缓冲存储器。作为说明而非局限，RAM以多种形式可得，诸如静态RAM(SRAM)、动态RAM(DRAM)、同步DRAM(SDRAM)、双数据率SDRAM(DDRSDRAM)、增强型SDRAM(ESDRAM)、同步链路(Synchlink)DRAM(SLDRAM)、存储器总线(Rambus)直接RAM (RDRAM)、直接存储器总线动态RAM(DRDRAM)、以及存储器总线动态RAM(RDRAM)等。
在一个实施例中，提供了一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现如上所述的任意一种基于先验信息的卫星导航欺骗干扰检测方法。
以上仅是本发明的优选实施方式，本发明的保护范围并不仅局限于上述实施例，凡属于本发明思路下的技术方案均属于本发明的保护范围。应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理前提下的若干改进和润饰，应视为本发明的保护范围。
Claims (9)
- 一种基于先验信息的卫星导航欺骗干扰检测方法，其特征在于，包括步骤：获取通过导航信号接收天线实时接收的卫星导航信号；对所述卫星导航信号进行处理，获得导航信号接收天线的当前输出参数信息，所述当前输出参数信息包括当前输出位置和当前输出速度；将导航信号接收天线的所述当前输出参数信息，与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰；将导航信号接收天线的所述当前输出参数信息，与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰，具体包括：所述导航信号接收天线的数目为至少两个，所述先验信息包括：各导航信号接收天线的已知速度、且各导航信号接收天线的已知速度不同，各导航信号接收天线的已知位置、且各导航信号接收天线的已知位置不同，不同导航信号接收天线间的已知相对速度差的模值，不同导航信号接收天线间的已知相对位置，以及不同导航信号接收天线间的已知相对速度；当任意两个导航信号接收天线的所述当前输出速度相同时，确定存在卫星导航信号欺骗干扰，当至少一个导航信号接收天线的所述当前输出速度，与该导航信号接收天线对应的已知速度的误差大于预定阈值时，确定存在卫星导航信号欺骗干扰；当任意两个导航信号接收天线的所述当前输出位置相同时，确定存在卫星导航信号欺骗干扰；当基于任意两个导航信号接收天线的所述当前输出速度确定的当前相对速度差的模值，与该两个导航信号接收天线对应的已知相对速度差的模值之间的差值达到相对速度模值阈值时，确定存在卫星导航信号欺骗干扰；当基于任意两个导航信号接收天线的所述当前输出位置确定的当前相对位置，与该两个导航信号接收天线对应的已知相对位置之间的差异达到差异阈值时，确定存在卫星导航信号欺骗干扰；当基于任意两个导航信号接收天线的所述当前输出速度确定的当前相对速度，与该两个导航信号接收天线对应的已知相对速度之间的差值达到速度差值阈值时，确定存在卫星导航信号欺骗干扰。
- 根据权利要求1所述的基于先验信息的卫星导航欺骗干扰检测方法，其特征在于，在根据比较结果确定是否存在卫星导航信号欺骗干扰之后，还包括步骤：对获得的检测结果进行滤波处理。
- 根据权利要求1或2所述的基于先验信息的卫星导航欺骗干扰检测方法，其特征在于，将导航信号接收天线的所述当前输出参数信息，与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰，包括：将导航信号接收天线的所述当前输出参数信息发送给处理设备，以使得所述处理设备将导航信号接收天线的所述当前输出参数信息，与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰。
- 一种基于先验信息的卫星导航欺骗干扰检测方法，其特征在于，包括步骤：获取导航信号接收天线的当前输出参数信息，所述当前输出参数信息包括当前输出位置和当前输出速度，导航信号接收天线的当前输出参数信息，通过获取通过导航信号接收 天线实时接收的卫星导航信号，对所述卫星导航信号进行处理获得；将导航信号接收天线的所述当前输出参数信息与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰；将导航信号接收天线的所述当前输出参数信息与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰，具体包括：所述导航信号接收天线的数目为至少两个，所述先验信息包括：各导航信号接收天线的已知速度、且各导航信号接收天线的已知速度不同，各导航信号接收天线的已知位置、且各导航信号接收天线的已知位置不同，不同导航信号接收天线间的已知相对速度差的模值，不同导航信号接收天线间的已知相对位置，以及不同导航信号接收天线间的已知相对速度；当任意两个导航信号接收天线的所述当前输出速度相同时，确定存在卫星导航信号欺骗干扰；当至少一个导航信号接收天线的所述当前输出速度，与该导航信号接收天线对应的已知速度的误差大于预定阈值时，确定存在卫星导航信号欺骗干扰；当至少一个导航信号接收天线的所述当前输出位置，与该导航信号接收天线对应的已知位置的误差大于预定阈值时，确定存在卫星导航信号欺骗干扰；当任意两个导航信号接收天线的所述当前输出位置相同时，确定存在卫星导航信号欺骗干扰；当基于任意两个导航信号接收天线的所述当前输出速度确定的当前相对速度差的模值，与该两个导航信号接收天线对应的已知相对速度差的模值之间的差值达到相对速度模值阈值时，确定存在卫星导航信号欺骗干扰；当基于任意两个导航信号接收天线的所述当前输出位置确定的当前相对位置，与该两个导航信号接收天线对应的已知相对位置之间的差异达到差异阈值时，确定存在卫星导航信号欺骗干扰；当基于任意两个导航信号接收天线的所述当前输出速度确定的当前相对速度，与该两个导航信号接收天线对应的已知相对速度之间的差值达到速度差值阈值时，确定存在卫星导航信号欺骗干扰。
- 一种卫星导航信号处理系统，其特征在于，所述系统包括：至少一个导航信号接收天线，以及导航信号接收设备；所述导航信号接收天线实时接收卫星导航信号；所述导航信号接收设备，对所述卫星导航信号进行处理，获得导航信号接收天线的当前输出参数信息，所述当前输出参数信息包括当前输出位置和当前输出速度；并将导航信号接收天线的当前输出参数信息发送给处理设备，以使得所述处理设备将导航信号接收天线的当前输出参数信息与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰；所述处理设备将导航信号接收天线的当前输出参数信息与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰，具体包括：所述导航信号接收天线的数目为至少两个，所述先验信息包括：各导航信号接收天线的已知速度、且各导航信号接收天线的已知速度不同，各导航信号接收天线的已知位置、且各导航信号接收天线的已知位置不同，不同导航信号接收天线间的已知相对速度差的模 值，不同导航信号接收天线间的已知相对位置，以及不同导航信号接收天线间的已知相对速度；当任意两个导航信号接收天线的所述当前输出速度相同时，确定存在卫星导航信号欺骗干扰；当至少一个导航信号接收天线的所述当前输出速度，与该导航信号接收天线对应的已知速度的误差大于预定阈值时，确定存在卫星导航信号欺骗干扰；当至少一个导航信号接收天线的所述当前输出位置，与该导航信号接收天线对应的已知位置的误差大于预定阈值时，确定存在卫星导航信号欺骗干扰；当任意两个导航信号接收天线的所述当前输出位置相同时，确定存在卫星导航信号欺骗干扰；当基于任意两个导航信号接收天线的所述当前输出速度确定的当前相对速度差的模值，与该两个导航信号接收天线对应的已知相对速度差的模值之间的差值达到相对速度模值阈值时，确定存在卫星导航信号欺骗干扰；当基于任意两个导航信号接收天线的所述当前输出位置确定的当前相对位置，与该两个导航信号接收天线对应的已知相对位置之间的差异达到差异阈值时，确定存在卫星导航信号欺骗干扰；当基于任意两个导航信号接收天线的所述当前输出速度确定的当前相对速度，与该两个导航信号接收天线对应的已知相对速度之间的差值达到速度差值阈值时，确定存在卫星导航信号欺骗干扰。
- 根据权利要求5所述的卫星导航信号处理系统，其特征在于，所述系统还包括：所述处理设备。
- 根据权利要求5或6所述的系统，其特征在于，一个导航信号接收天线连接一个导航信号接收设备，或者，所述导航信号接收天线的数目为至少两个；两个以上的天线连接到同一个导航信号接收设备。
- 根据权利要求5或6所述的系统，其特征在于，所述导航信号接收天线安装在载体上，每个载体上安装有至少一个所述导航信号接收天线。
- 一种卫星导航信号处理设备，其特征在于，所述设备包括：至少一个导航信号接收天线，以及导航信号接收设备，所述导航信号接收天线实时接收卫星导航信号；所述导航信号接收设备，对所述卫星导航信号进行处理，获得导航信号接收天线的当前输出参数信息，所述当前输出参数信息包括当前输出位置和当前输出速度，并将导航信号接收天线的所述当前输出参数信息，与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰；所述导航信号接收设备将导航信号接收天线的所述当前输出参数信息，与对应的先验信息进行比较，根据比较结果确定是否存在卫星导航信号欺骗干扰，具体包括：所述导航信号接收天线的数目为至少两个，所述先验信息包括：各导航信号接收天线的已知速度、且各导航信号接收天线的已知速度不同，各导航信号接收天线的已知位置、且各导航信号接收天线的已知位置不同，不同导航信号接收天线间的已知相对速度差的模值，不同导航信号接收天线间的已知相对位置，以及不同导航信号接收天线间的已知相对速度；当任意两个导航信号接收天线的所述当前输出速度相同时，确定存在卫星导航信号欺 骗干扰；当至少一个导航信号接收天线的所述当前输出速度，与该导航信号接收天线对应的已知速度的误差大于预定阈值时，确定存在卫星导航信号欺骗干扰；当至少一个导航信号接收天线的所述当前输出位置，与该导航信号接收天线对应的已知位置的误差大于预定阈值时，确定存在卫星导航信号欺骗干扰；当任意两个导航信号接收天线的所述当前输出位置相同时，确定存在卫星导航信号欺骗干扰；当基于任意两个导航信号接收天线的所述当前输出速度确定的当前相对速度差的模值，与该两个导航信号接收天线对应的已知相对速度差的模值之间的差值达到相对速度模值阈值时，确定存在卫星导航信号欺骗干扰；当基于任意两个导航信号接收天线的所述当前输出位置确定的当前相对位置，与该两个导航信号接收天线对应的已知相对位置之间的差异达到差异阈值时，确定存在卫星导航信号欺骗干扰；当基于任意两个导航信号接收天线的所述当前输出速度确定的当前相对速度，与该两个导航信号接收天线对应的已知相对速度之间的差值达到速度差值阈值时，确定存在卫星导航信号欺骗干扰。
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