WO2022089405A1 - 识别gnss伪星数据的方法、装置以及相关设备 - Google Patents

识别gnss伪星数据的方法、装置以及相关设备 Download PDF

Info

Publication number
WO2022089405A1
WO2022089405A1 PCT/CN2021/126328 CN2021126328W WO2022089405A1 WO 2022089405 A1 WO2022089405 A1 WO 2022089405A1 CN 2021126328 W CN2021126328 W CN 2021126328W WO 2022089405 A1 WO2022089405 A1 WO 2022089405A1
Authority
WO
WIPO (PCT)
Prior art keywords
data
information
access network
gnss
satellite
Prior art date
Application number
PCT/CN2021/126328
Other languages
English (en)
French (fr)
Inventor
李继红
葛乐
尹照根
谷扬
Original Assignee
华为技术有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to EP21885132.7A priority Critical patent/EP4220991A4/en
Priority to JP2023525102A priority patent/JP7467774B2/ja
Publication of WO2022089405A1 publication Critical patent/WO2022089405A1/zh
Priority to US18/307,927 priority patent/US20240077621A1/en

Links

Images

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
    • G01S19/215—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service issues related to spoofing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
    • G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
    • G01S19/115—Airborne or satellite based pseudolites or repeaters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/1851—Systems using a satellite or space-based relay
    • H04B7/18513—Transmission in a satellite or space-based system
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/1851—Systems using a satellite or space-based relay
    • H04B7/18519—Operations control, administration or maintenance
    • 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
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
    • G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
    • 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

  • the present application relates to the field of communications, and in particular, to a method, an apparatus, and related equipment for identifying GNSS pseudostar data.
  • the Global Navigation Satellite System can provide users with positioning and time information services.
  • GNSS includes ground stations, GNSS satellites and GNSS receivers.
  • the ground station is responsible for monitoring.
  • the ground station calculates the operating orbit of the GNSS satellite by receiving and measuring the signals of each GNSS satellite, and transmits the operating orbit information of the GNSS satellite to the GNSS satellite, so that the GNSS satellite can broadcast it.
  • GNSS satellites are responsible for broadcasting signals to the ground.
  • the GNSS receiver is used to receive the signals broadcast by the GNSS satellites, and obtain the ephemeris, almanac and other information of the GNSS satellites from the signals of the GNSS satellites. Specifically, the GNSS receiver obtains four 3-dimensional coordinates from four GNSS satellites, and obtains its own position and time information according to the following equations:
  • the position coordinates of the GNSS receiver are (x, y, z).
  • the distances from the GNSS satellite to the GNSS receiver are r1, r2, r3, and r4, respectively.
  • c is the speed of light
  • t is the clock error.
  • GNSS pseudo-satellites provide fake ephemeris and almanac to GNSS receivers by means of replay or camouflage.
  • the access network equipment cannot determine that the ephemeris or almanac is sent by the GNSS pseudo-star, so that corresponding protection cannot be performed.
  • the present application provides a method, apparatus and related equipment for identifying GNSS pseudo-star data, which can identify GNSS pseudo-star data.
  • a first aspect of the present application provides a method for identifying GNSS pseudolite data.
  • the method includes: the target device receives first data sent by the access network device, where the first data includes first ephemeris information and/or first almanac information; the target device determines abnormal first data according to multiple copies of the first data, and the multiple The copies of the first data include abnormal first data, the multiple copies of the first data are obtained by the target device from multiple access network devices, and multiple copies of the first ephemeris information and/or multiple copies of the first data in the multiple copies of the first data.
  • the almanac information corresponds to the first satellite. Wherein, each of the multiple pieces of first data includes first ephemeris information and/or first almanac information of the first satellite.
  • the access network equipment is installed with a star card, that is, a GNSS receiver is installed.
  • a star card that is, a GNSS receiver is installed.
  • the timeliness and periodicity of the ephemeris or almanac issued by the GNSS satellite have no rules to follow for different GNSS satellites, and it is difficult for GNSS pseudolites to imitate their timeliness and periodicity.
  • the target device can determine that a certain piece of first ephemeris information and/or a certain piece of first almanac information is abnormal through multiple pieces of first ephemeris information and/or multiple pieces of first almanac information sent by multiple access network devices, That is, the abnormal first data is determined, and the abnormal first data may be GNSS pseudostar data, thereby providing a basis for corresponding protection.
  • the first ephemeris information and/or the first almanac information is obtained by the access network device from the second ephemeris information and/or the second almanac information by using a hash function, and the first The second ephemeris information and/or the second almanac information is obtained by the access network device from the first satellite.
  • the access network device processes the second ephemeris information and/or the second almanac information through a hash function, which can reduce the amount of data transmitted between the access network device and the target device.
  • first ephemeris information and/or the first almanac information processed by the hash function still retains some characteristics of the second ephemeris information and/or the second almanac information, so it can still be used by the target device to determine the abnormal first almanac information.
  • the first data is outlier among the multiple pieces of first data.
  • the ephemeris or almanac sent by the GNSS satellite is time-sensitive and periodic, and the ephemeris or almanac received by multiple access network devices should be the same or similar. Therefore, when the first data is outlier among multiple copies of the first data, the first data is generally abnormal first data.
  • the target device after the target device receives the first data sent by the access network device, the target device sends a GNSS pseudo-star alert to the access network device, where the GNSS pseudo-star alert includes the number of the first satellite .
  • the target device feeds back the number of the first satellite to the access network device, which can let the access network device know that the first data is GNSS pseudolite data, or let the access network device know that the first satellite is a GNSS pseudolite, so as to carry out Corresponding protection provides the basis.
  • a second aspect of the present application provides a method for identifying GNSS pseudo-star data.
  • the method includes: the access network device sends first data to the target device, the first data includes first ephemeris information and/or first almanac information, and the first data is used by the target device to determine the abnormal first data according to multiple copies of the first data.
  • One piece of data, the pieces of first data include abnormal first data, the pieces of first data are obtained by the target device from multiple access network devices, the pieces of first ephemeris information and/or the pieces of first data in the pieces of first data
  • the plurality of pieces of first almanac information correspond to the first satellite.
  • the method before the access network device sends the first data to the target device, the method further includes: the access network device receives second ephemeris information and/or second almanac from the first satellite information; the access network device processes the second ephemeris information and/or the second almanac information by using a hash function to obtain the first ephemeris information and/or the first almanac information.
  • the first data is outliers among the multiple copies of the first data.
  • the access network device after the access network device sends the first data to the target device, the access network device receives a GNSS pseudo-star alert sent by the target device, where the GNSS pseudo-star alert includes the number of the first satellite ;
  • the access network device updates the time of the access network device according to the ephemeris information of multiple GNSS satellites, and the multiple GNSS satellites do not include the first satellite.
  • a third aspect of the present application provides an apparatus for identifying GNSS pseudostar data.
  • the apparatus includes: a receiving module configured to receive first data sent by an access network device, where the first data includes first ephemeris information and/or first almanac information;
  • the determining module is used to determine the abnormal first data according to the multiple first data, the multiple first data includes the abnormal first data, the multiple first data is obtained by the target device from multiple access network devices, and the multiple first data is obtained by the target device from multiple access network devices.
  • the multiple pieces of first ephemeris information and/or the multiple pieces of first almanac information in the first data correspond to the first satellite.
  • the first ephemeris information and/or the first almanac information is obtained by the access network device according to the second ephemeris information and/or the second almanac information, and the second ephemeris information And/or the second almanac information is obtained by the access network device from the first satellite.
  • the first data is outliers among the multiple copies of the first data.
  • the device further includes:
  • the sending module is configured to send a GNSS pseudo-star alert to the access network device, where the GNSS pseudo-star alert includes the number of the first satellite.
  • a fourth aspect of the present application provides an apparatus for identifying GNSS pseudostar data.
  • the device includes: a sending module configured to send first data to a target device, where the first data includes first ephemeris information and/or first almanac information, and the first data is used by the target device to determine abnormality according to multiple copies of the first data.
  • the first data, the multiple first data includes abnormal first data, the multiple first data is obtained by the target device from multiple access network devices, and the multiple first ephemeris information in the multiple first data and/ One or more pieces of first almanac information correspond to the first satellite.
  • the device further includes:
  • a receiving module for receiving second ephemeris information and/or second almanac information from the first satellite
  • the processing module is configured to process the second ephemeris information and/or the second almanac information by using a hash function to obtain the first ephemeris information and/or the first almanac information.
  • the first data is outliers among the multiple copies of the first data.
  • the device further includes:
  • the receiving module is used to receive the GNSS pseudo-star prompt sent by the target device, and the GNSS pseudo-star prompt includes the number of the first satellite;
  • the updating module is configured to update the time of the access network device according to the ephemeris information of the multiple GNSS satellites, and the multiple GNSS satellites do not include the first satellite.
  • a fifth aspect of the present application provides a device for identifying GNSS pseudostar data.
  • the device includes: a transceiver and a processor;
  • the transceiver is configured to receive first data sent by the access network device, where the first data includes first ephemeris information and/or first almanac information;
  • the processor is configured to determine abnormal first data according to a plurality of first data, the plurality of first data includes abnormal first data, the plurality of first data are obtained by the target device from a plurality of access network devices, and the plurality of first data
  • the multiple pieces of first ephemeris information and/or the multiple pieces of first almanac information in the first data correspond to the first satellite.
  • the first ephemeris information and/or the first almanac information is obtained by the access network device according to the second ephemeris information and/or the second almanac information, and the second ephemeris information And/or the second almanac information is obtained by the access network device from the first satellite.
  • the first data is outliers among the multiple copies of the first data.
  • the device further includes:
  • the sending module is configured to send a GNSS pseudo-star alert to the access network device, where the GNSS pseudo-star alert includes the number of the first satellite.
  • a sixth aspect of the present application provides a device for identifying GNSS pseudostar data.
  • the device includes: a transceiver and a processor;
  • the transceiver is used to send first data to the target device, the first data includes first ephemeris information and/or first almanac information, and the first data is used by the target device to determine abnormal first data according to multiple copies of the first data, Multiple copies of first data include abnormal first data, multiple copies of first data are obtained by the target device from multiple access network devices, multiple copies of first ephemeris information and/or multiple copies of first data in multiple copies of first data.
  • An almanac information corresponds to the first satellite.
  • the device further includes:
  • a receiving module for receiving second ephemeris information and/or second almanac information from the first satellite
  • the processing module is configured to process the second ephemeris information and/or the second almanac information by using a hash function to obtain the first ephemeris information and/or the first almanac information.
  • the first data is outliers among the multiple copies of the first data.
  • the device further includes:
  • the receiving module is used to receive the GNSS pseudo-star prompt sent by the target device, and the GNSS pseudo-star prompt includes the number of the first satellite;
  • the updating module is configured to update the time of the access network device according to the ephemeris information of the multiple GNSS satellites, and the multiple GNSS satellites do not include the first satellite.
  • a seventh aspect of the present application provides a computer storage medium, characterized in that, the computer storage medium stores instructions, and when the instructions are executed on a computer, the computer executes any of the first aspect or the first aspect.
  • An eighth aspect of the present application provides a computer program product, characterized in that, when the computer program product is executed on a computer, the computer is caused to execute the method according to the first aspect or any one of the implementation manners of the first aspect. , or cause the computer to execute the method according to the second aspect or any one of the implementation manners of the second aspect.
  • FIG. 1 is a schematic structural diagram of a scenario where an access network device performs time synchronization
  • FIG. 2 is a schematic diagram of a network framework according to an embodiment of the application.
  • FIG. 3 is a schematic flowchart of identifying GNSS pseudostar data in an embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of identifying GNSS pseudostar data by clustering in an embodiment of the application
  • FIG. 5 is a schematic structural diagram of an apparatus for identifying GNSS pseudostar data in an embodiment of the present application
  • FIG. 6 is another schematic structural diagram of an apparatus for identifying GNSS pseudostar data in an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a device for identifying GNSS pseudostar data in an embodiment of the present application.
  • the embodiments of the present application provide a method, an apparatus, and related equipment for identifying GNSS pseudo-star data, which are applied in the field of communications and can identify GNSS pseudo-star data.
  • the features or contents marked with dotted lines in the drawings involved in the embodiments of the present application may be understood as optional operations or optional structures of the embodiments.
  • GNSS can provide users with positioning and time information services.
  • GNSS includes ground stations, GNSS satellites (referred to as satellites) and GNSS receivers.
  • the ground station is responsible for monitoring.
  • the ground station calculates the operating orbit of the GNSS satellite by receiving and measuring the signals of each GNSS satellite, and transmits the operating orbit information of the GNSS satellite to the GNSS satellite, so that the GNSS satellite can broadcast it.
  • GNSS satellites are responsible for broadcasting signals to the ground.
  • the GNSS receiver is used to receive the signals broadcast by the GNSS satellites, and obtain the ephemeris, almanac and other information of the GNSS satellites from the signals of the GNSS satellites. Specifically, as shown in FIG. 1 , FIG.
  • FIG. 1 is a schematic structural diagram of a scenario where an access network device performs time synchronization.
  • Figure 1 includes GNSS satellites 102, GNSS satellites 103, and GNSS satellites 104, as well as many more GNSS satellites.
  • the access network device 101 receives multiple ephemeris, almanacs, from multiple GNSS satellites. By parsing the content in the ephemeris, the access network device 101 can acquire the 3-dimensional coordinates of the GNSS satellites. Theoretically, the access network device 101 only needs to obtain the three-dimensional coordinates of the three GNSS satellites to determine its own position. However, because the access network device 101 and the GNSS satellites may have a clock difference (also called time difference), the access network device 101 needs to obtain the 3-dimensional coordinates of the four GNSS satellites, and obtain its own position and time information through the following equations:
  • the location coordinates of the access network device 101 are (x, y, z).
  • the distances from the GNSS satellite to the access network device 101 are r1, r2, r3, and r4, respectively.
  • c is the speed of light and t is the clock error.
  • the access network device 101 can obtain its own 3-dimensional coordinates and the clock difference t.
  • the access network device 101 uses the clock difference t to correct its own time, so that its own time can be synchronized with the time of the GNSS satellite.
  • the t calculated by the access network device 101 according to the above-mentioned equation system may be inaccurate. If t is inaccurate, the access network device 101 cannot accurately perform time synchronization with the GNSS satellites.
  • the synchronization system of the access network device 101 is a one-way tracking system without a closed loop; when an error occurs in the GNSS reference source (or the GNSS reference source transmitted through the 1588 interface), the independent access network device 101 cannot identify the error, It will track the reference source with phase deviation normally; after the synchronization system of the access network device 101 is biased, it will be applied to the baseband and radio frequency modules as the reference of this system, resulting in a certain offset of the transmitted wireless frame, and Causes interference to surrounding sites.
  • the present application provides a method for identifying GNSS pseudolite data.
  • an access network device sends first data to a target device, the first data includes first ephemeris information or first almanac information, and the target device determines the abnormality according to multiple copies of the first data sent by multiple access network devices the first data.
  • the multiple pieces of first data include multiple pieces of first ephemeris information or multiple pieces of first almanac information, and each piece of first ephemeris information or first almanac information is an ephemeris received by different access network devices from the first satellite. Calendar or almanac information.
  • the first ephemeris information or the first almanac information is the data that the access network device considers to be obtained from the first satellite, not necessarily the data sent by the first satellite, and may be the first spoofed GNSS pseudo-star. satellite.
  • FIG. 2 is a schematic diagram of a network framework according to an embodiment of the present application.
  • FIG. 2 includes a GNSS satellite 201 , an access network device 202 , an access network device 203 , an access network device 204 , an interference source 205 and a target device 206 .
  • the GNSS satellite 201 periodically broadcasts the ephemeris or almanac. Since the signal coverage of the GNSS satellite 201 is relatively large, there will be many access network devices that can receive the ephemeris and almanac of 201 . It is only exemplified here that many access network devices include the access network device 202 , the access network device 203 , and the access network device 204 .
  • the interference source 205 may be interference from military equipment or interference from civilian equipment. There are generally two types of interference sources, and the interference source 205 in FIG. 2 is taken as an example. One is the repressive interference source 205. The repressive interference source 205 will make the access network device 204 unable to normally receive the ephemeris and almanac sent by the GNSS satellite 201, so that the ephemeris and almanac received by the access network device 204 will not be valid. precise. The other is a spoofed interference source 205.
  • the spoofed interference source 205 will send a signal similar to the GNSS satellite 201, but the signal may be a signal from the GNSS satellite 201 a while ago, which will still cause the access network device 204 to receive the signal. The ephemeris and almanac are inaccurate.
  • the target device 206 receives multiple pieces of first data sent by multiple access network devices, and then determines abnormal first data according to the multiple pieces of first data.
  • the access network devices 202 to 204 in the embodiments of the present application are devices in the network for connecting terminal devices to the wireless network.
  • the access network equipment is installed with a satellite card or a GNSS receiver.
  • An access network device may be a node in a radio access network, and may also be called a base station, and may also be called a radio access network (radio access network, RAN) node (or device).
  • radio access network radio access network
  • the network equipment may include an evolved base station (NodeB or eNB or e-NodeB, evolutional Node B) in a long term evolution (long term evolution, LTE) system or an evolved LTE system (LTE-Advanced, LTE-A), such as traditional Macro base station eNB and micro base station eNB in heterogeneous network scenarios, or may also include the next generation node B (next generation node B) in the fifth generation mobile communication technology (5th generation, 5G) new radio (new radio, NR) system , gNB), or may also include radio network controller (radio network controller, RNC), node B (Node B, NB), base station controller (base station controller, BSC), base transceiver station (base transceiver station, BTS) , transmission reception point (TRP), home base station (for example, home evolved NodeB, or home Node B, HNB), baseband unit (base band unit, BBU), baseband pool BBU pool, or WiFi access point ( access point, AP), etc
  • the target device 206 in this embodiment of the present application may be a server, a desktop computer, or a notebook computer. It can also be a network management device.
  • the GNSS satellite 201 may be a GPS satellite, a Beidou satellite, or the like.
  • the first data includes first ephemeris data and/or first almanac data.
  • first ephemeris data includes first ephemeris data and/or first almanac data.
  • first almanac data For convenience of description, the method for identifying GNSS pseudo-star data in this embodiment of the present application will be described below by taking the first data including the first ephemeris information as an example.
  • FIG. 3 is a schematic flowchart of identifying GNSS pseudostar data in an embodiment of the present application.
  • step 301 the access network device acquires second ephemeris information.
  • the access network devices may be the access network devices 202 to 204 in FIG. 2 above.
  • the access network device receives the second ephemeris information from the navigation message of the first satellite.
  • GPS navigation messages are arranged into a bit stream in the form of frames, each frame is 1500 bits, and the 1500 bits are divided into 5 subframes, each subframe is 300 bits. Each subframe is further divided into 10 words. It takes 20ms to send each bit, and 30s to send a frame.
  • the data of the second subframe and the third subframe of the navigation message can be combined to provide a set of ephemeris parameters.
  • the ephemeris parameters include the ephemeris reference time, the square root of the semi-major axis A of the satellite orbit, the satellite orbit eccentricity, the orbital inclination at the ephemeris reference time, and the perigee angular distance.
  • the second subframe and the third subframe of the navigation message also include the day number of the ephemeris data, the validity period indicator of the ephemeris data, AODO (Age of Data Offset), etc.
  • the second ephemeris information includes the ephemeris data.
  • the second ephemeris information includes the ephemeris reference time, or the second ephemeris information includes the ephemeris reference time and the square root of the semi-major axis A of the satellite orbit.
  • the first data includes the first almanac information
  • the second almanac information corresponding to the first almanac information may include part or all of the information of the almanac parameters.
  • the almanac parameters are carried in the fourth and fifth subframes of the navigation message.
  • GPS satellites belong to the earth's medium-orbit satellites.
  • the average height of the satellite orbit is about 20,200km.
  • the orbit is an ellipse that is very close to a perfect circle.
  • the operation period is 11 hours and 58 minutes. Taking into account the 24-hour period of the Earth's rotation, the operation and distribution of satellites repeats approximately every 23 hours and 56 minutes (1436 minutes) relative to a fixed observation point on the ground.
  • the access network device needs to exclude the second ephemeris information. That is, in step 303, the access network device does not send the first ephemeris information to the target device. Since the access network device can generally receive ephemeris information of multiple satellites, excluding individual ephemeris information does not affect the method for identifying GNSS pseudo-star data in the embodiment of the present application.
  • step 302 the access network device processes the second ephemeris information through a hash function to obtain the first ephemeris information.
  • Hash function that is, a hash function. It is a one-way cryptosystem, that is, it is an irreversible mapping from plaintext to ciphertext, with only an encryption process and no decryption process. At the same time, the hash function can change the input of any length to obtain the output of fixed length. The one-way nature of the hash function and the fixed length of the output data make it possible to generate messages or data.
  • the present application processes the second ephemeris information by using a hash function to obtain the first ephemeris information with a small amount of data.
  • step 303 the access network device sends the first ephemeris information to the target device.
  • the access network device may also send the code of the first satellite to the target device, which is used to indicate the correspondence between the first ephemeris information and the first satellite. Because in practical application, the access network device can not only obtain the first ephemeris information of the first satellite, but also obtain the ephemeris information of other satellites, and send the ephemeris information of other satellites to the target device. Therefore, the access network equipment needs to ensure the correspondence between ephemeris information and satellites. Of course, the access network device may not send the code of the first satellite to the target device. For example, the access network device needs to send ephemeris information corresponding to 6 satellites out of 32 satellites to the target device.
  • the access network equipment generates a table of 32 vacancies, and the 32 vacancies correspond to 32 satellites one-to-one.
  • the access network device fills the ephemeris information corresponding to the six satellites into the six corresponding vacancies in the table, and sends the table to the target device.
  • the target device can determine the satellite corresponding to each ephemeris information according to the position of the ephemeris information in the table according to the agreement with the access network device in advance.
  • step 304 the target device determines abnormal first ephemeris information according to the multiple pieces of first ephemeris information.
  • the target device may receive multiple pieces of first ephemeris information from multiple access network devices, and each piece of first ephemeris information corresponds to the first satellite.
  • the ephemeris parameters or almanac parameters sent by the same satellite are time-sensitive and periodic, and there is no rule to follow for different satellites; GNSS pseudolites are difficult to imitate the timeliness and periodicity. Therefore, each first ephemeris information should be the same or similar. Taking the first ephemeris information including ephemeris reference time as an example, multiple pieces of first ephemeris information include multiple pieces of ephemeris reference time.
  • the target device may determine that the first ephemeris information corresponding to the ephemeris reference time is abnormal.
  • the first ephemeris information is abnormal ephemeris information.
  • the present application does not limit outlier related algorithms, for example, the difference between a certain ephemeris reference time and the median of multiple ephemeris reference times is greater than N.
  • the target device may receive multiple pieces of first ephemeris information from multiple access network devices, and the target device may cluster the multiple pieces of first ephemeris information. Group the same or similar first ephemeris information into one category. The majority class and the minority class can be obtained by clustering.
  • FIG. 4 is a schematic structural diagram of identifying GNSS pseudostar data by clustering in an embodiment of the present application.
  • the target device divides multiple pieces of first ephemeris information into 5 groups, namely Group 1 (Group 1), Group 2 (Group 2), Group 3 (Group3), Group 4 (Group 4) and Group m (Group m).
  • group 1, group 2, group 3, group 4 are minority classes, also known as abnormal clustering.
  • Group m is the majority class, also known as normal clustering.
  • the number of first ephemeris data in each minority class is generally less than 10 because of the limited transmit power of GNSS pseudo-satellites, ie interferers.
  • the first ephemeris information in the minority category is abnormal first ephemeris data.
  • the first satellite corresponding to the abnormal first ephemeris information is the abnormal first satellite, and by analogy, the target device can also determine whether other satellites are pseudolites, and Table 1 can be obtained.
  • the first column represents the time, more specifically, the time can be specific to hours.
  • the second column represents the code name of the access network equipment, such as gNB1, gNB2, etc.
  • the third column indicates the presence status of the satellites. For example, for gNB1, there are a total of 32 GNSS satellites, satellite No. 8 is in place, and satellite No. 9 is not in place. For example, for gNB2, satellite No. 8 is not located, and satellite No. 9 is not located. Of course, for gNB1, satellite No. 8 may be a pseudolite, that is, the real satellite No. 8 may not be in place.
  • the third column indicates the status of the satellite, which is obtained by the target device according to the abnormal ephemeris information, such as satellite No.
  • gNB1 sends the ephemeris information corresponding to satellite No. 8 to the target device, and the target device according to multiple access networks After the device sends a plurality of ephemeris information corresponding to satellite No. 8, it is determined that the ephemeris information sent by gNB1 is abnormal ephemeris information, thereby determining that satellite No. 8 in gNB1 is a pseudolite. Similarly, satellite 6 in gNB1 was also identified as a pseudolite by the target device.
  • step 305 the target device sends a GNSS pseudo-star alert to the access network device.
  • the target device determines the abnormal first ephemeris information, and the target device sends a GNSS pseudo-star alert to the access network device that sent the first ephemeris information.
  • the abnormal first ephemeris information is sent by the access network device to the target device in step 303 .
  • the code for the first satellite is included.
  • the access network device performs time synchronization with the satellites according to the ephemeris information of the multiple satellites. Specifically, the access network device calculates the clock difference t by using the equation set in the above-mentioned description of FIG. 1 .
  • the access network equipment can improve the accuracy of t and improve the accuracy of time synchronization.
  • FIG. 5 is a schematic structural diagram of an apparatus for identifying GNSS pseudostar data according to an embodiment of the present application.
  • the apparatus includes: a receiving module 501, configured to receive first data sent by an access network device, where the first data includes first ephemeris information and/or first almanac information;
  • the determining module 502 is configured to determine abnormal first data according to multiple first data, where multiple first data includes abnormal first data, multiple first data is obtained by target device from multiple access network devices, and multiple first data is obtained from multiple access network devices.
  • the pieces of first ephemeris information and/or the pieces of first almanac information in the pieces of first data correspond to the first satellites.
  • the apparatus may further include a sending module and the like.
  • the modules in the apparatus are specifically configured to perform all or part of the operations that can be performed by the target device in the embodiment corresponding to FIG. 4 .
  • FIG. 6 is another schematic structural diagram of an apparatus for identifying GNSS pseudostar data according to an embodiment of the present application.
  • the apparatus includes: a sending module 601, configured to send first data to a target device, where the first data includes first ephemeris information and/or first almanac information, and the first data is used by the target device to determine abnormality according to multiple copies of the first data
  • the multiple first data includes abnormal first data, the multiple first data is obtained by the target device from multiple access network devices, and the multiple first ephemeris information and /or multiple pieces of first almanac information corresponding to the first satellite.
  • the apparatus may further include a receiving module or a processing module or the like.
  • the modules in the apparatus are specifically configured to perform all or part of the operations that can be performed by the access network device in the embodiment corresponding to FIG. 4 .
  • FIG. 7 is a schematic structural diagram of a device for identifying GNSS pseudostar data according to an embodiment of the present application.
  • an apparatus 700 for identifying GNSS pseudolite data includes a processor 710 and a transceiver 720 coupled to the processor 710 .
  • the processor 710 may be a central processing unit (CPU), a network processor (NP), or a combination of CPU and NP.
  • the processor may also be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • ASIC application-specific integrated circuit
  • PLD programmable logic device
  • the above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general-purpose array logic (generic array logic, GAL) or any combination thereof.
  • the processor 710 may refer to one processor, or may include multiple processors.
  • the device for identifying GNSS pseudo-star data further includes a memory
  • the memory may include a volatile memory (volatile memory), such as random-access memory (RAM); the memory 720 may also include a non-volatile memory.
  • Volatile memory non-volatile memory
  • ROM read-only memory
  • FRAM flash memory
  • HDD hard disk drive
  • solid-state drive solid-state drive
  • SSD solid-state drive
  • the memory may also include a combination of the above-mentioned types of memory.
  • the transceiver 720 is configured to receive first data sent by the access network device, where the first data includes first ephemeris information and/or first almanac information; the processor 710 is configured to determine abnormal first data according to multiple copies of the first data , the multiple copies of the first data include abnormal first data, the multiple copies of the first data are obtained by the target device from multiple access network devices, the multiple copies of the first ephemeris information and/or multiple copies of the first data
  • the first almanac information corresponds to the first satellite.
  • the processor 710 is further configured to, after executing the computer-readable instructions in the memory, execute all or part of the operations that can be performed by the target device according to the instructions of the computer-readable instructions. The operations performed in the corresponding embodiments.
  • the device identifying the GNSS pseudolite data is an access network device:
  • the transceiver 720 is configured to send first data to the target device, where the first data includes first ephemeris information and/or first almanac information, and the first data is used by the target device to determine abnormal first data according to multiple copies of the first data, Multiple copies of first data include abnormal first data, multiple copies of first data are obtained by the target device from multiple access network devices, multiple copies of first ephemeris information and/or multiple copies of first data in multiple copies of first data.
  • An almanac information corresponds to the first satellite.
  • the processor 710 is further configured to, after executing the computer-readable instructions in the memory, execute all or part of the operations that can be performed by the access network device according to the instructions of the computer-readable instructions, for example, the access network device Operations performed in the embodiment corresponding to FIG. 3 .
  • the disclosed system, apparatus and method may be implemented in other manners.
  • the apparatus embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as an independent product, may be stored in a computer-readable storage medium.
  • the technical solutions of the present application can be embodied in the form of software products in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, and the computer software products are stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: a flash disk, a removable hard disk, a ROM, a RAM, a magnetic disk or an optical disk and other mediums that can store program codes.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

本申请公开了一种识别GNSS伪星数据的方法，应用于通信领域，该方法包括：目标设备接收接入网设备发送的第一数据，第一数据包括第一星历信息和/或第一历书信息；目标设备根据多份第一数据确定异常的第一数据，多份第一数据包括异常的第一数据，多份第一数据是目标设备从多个接入网设备得到的，多份第一数据中的多份第一星历信息和/或多份第一历书信息与第一卫星对应。目标设备可以通过多份第一星历信息和/或多份第一历书信息来确定某份第一星历信息和/或某份第一历书信息异常，因此可以识别GNSS伪星数据，进而为进行相应的防护提供基础。

Description

识别GNSS伪星数据的方法、装置以及相关设备
本申请要求于2020年10月29日提交中国专利局、申请号为202011180719.X、发明名称为“识别GNSS伪星数据的方法、装置以及相关设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及通信领域，尤其涉及一种识别GNSS伪星数据的方法、装置以及相关设备。
背景技术
全球导航卫星系统(Global Navigation Satellite System，GNSS)可以为用户提供定位和时间信息的服务。
GNSS包括地面站，GNSS卫星和GNSS接收机。地面站负责监控。地面站通过接收、测量各个GNSS卫星的信号，计算GNSS卫星的运行轨道，并将GNSS卫星的运行轨道信息发射给GNSS卫星，让GNSS卫星去转播。GNSS卫星负责向地面广播信号。GNSS接收机用于接收GNSS卫星广播的信号，从GNSS卫星的信号中获取GNSS卫星的星历，历书等信息。具体地，GNSS接收机从4颗GNSS卫星中获取4个3维坐标，根据以下方程组获取自身的位置和时间信息：
((x-x1) 2+(y-y1) 2+(z-z1) 2) 1/2+c×t＝r1；
((x-x2) 2+(y-y2) 2+(z-z2) 2) 1/2+c×t＝r2；
((x-x3) 2+(y-y3) 2+(z-z3) 2) 1/2+c×t＝r3；
((x-x4) 2+(y-y4) 2+(z-z4) 2) 1/2+c×t＝r4；
其中，GNSS接收机的位置坐标为(x,y,z)。4颗GNSS卫星位置坐标分别为(xn,yn,zn),n＝1,2,3,4。GNSS卫星到GNSS接收机的距离分别为r1,r2,r3,r4。c为光速，t为钟差。通过上述方程组，GNSS接收机可以获取自身的3维坐标，以及钟差t。GNSS接收机利用钟差t修正自身的时间，便可以将自身的时间和GNSS卫星的时间同步。
若GNSS接收机输出的t不准确，安装有GNSS接收机的接入网设备无法准确与GNSS卫星进行时间同步。GNSS伪卫星(简称GNSS伪星)通过重放或者伪装的方式，给GNSS接收机提供伪造的星历，历书。对此，接入网设备并不能确定星历或历书是由GNSS伪星发送的，从而无法进行相应的防护。
发明内容
本申请提供了一种识别GNSS伪星数据的方法、装置以及相关设备，可以识别GNSS伪星数据。
本申请第一方面提供了一种识别GNSS伪星数据的方法。
该方法包括:目标设备接收接入网设备发送的第一数据，第一数据包括第一星历信息和/或第一历书信息；目标设备根据多份第一数据确定异常的第一数据，多份第一数据包括异 常的第一数据，多份第一数据是目标设备从多个接入网设备得到的，多份第一数据中的多份第一星历信息和/或多份第一历书信息与第一卫星对应。其中，多份第一数据中的每份第一数据包括第一卫星的第一星历信息和/或第一历书信息。接入网设备安装有星卡，即安装有GNSS接收机。对于同一颗GNSS卫星，GNSS卫星发出的星历或历书时效性和周期性，对应不同的GNSS卫星没有规律可循，GNSS伪星很难仿造其时效性和周期性。因此，目标设备可以通过多个接入网设备发送的多份第一星历信息和/或多份第一历书信息来确定某份第一星历信息和/或某份第一历书信息异常，即确定异常的第一数据，异常的第一数据便可能是GNSS伪星数据，进而为进行相应的防护提供基础。
在第一方面的一种可选方式中，第一星历信息和/或第一历书信息是接入网设备利用哈希函数从第二星历信息和/或第二历书信息得到的，第二星历信息和/或第二历书信息是接入网设备从第一卫星得到的。其中，接入网设备通过哈希函数处理第二星历信息和/或第二历书信息，可以减少接入网设备和目标设备之间传输的数据量。并且，通过哈希函数处理后的第一星历信息和/或第一历书信息仍然保留有第二星历信息和/或第二历书信息的一些特性，因此仍然可用于目标设备确定异常的第一星历信息和/或第一历书信息。
在第一方面的一种可选方式中，第一数据在多份第一数据中离群。其中，GNSS卫星发出的星历或历书时效性和周期性，多个接入网设备接收到的星历或历书应当是相同或类似的。因此，当第一数据在多份第一数据中离群时，则第一数据一般为异常的第一数据。
在第一方面的一种可选方式中，在目标设备接收接入网设备发送的第一数据后，目标设备向接入网设备发送GNSS伪星提示，GNSS伪星提示包括第一卫星的编号。其中，目标设备向接入网设备反馈第一卫星的编号，可以让接入网设备知道第一数据为GNSS伪星数据，或让接入网设备知道第一卫星为GNSS伪星，进而为进行相应的防护提供基础。
本申请第二方面提供了一种识别GNSS伪星数据的方法。
该方法包括:接入网设备向目标设备发送第一数据，第一数据包括第一星历信息和/或第一历书信息，第一数据用于目标设备根据多份第一数据确定异常的第一数据，多份第一数据包括异常的第一数据，多份第一数据是目标设备从多个接入网设备得到的，多份第一数据中的多份第一星历信息和/或多份第一历书信息与第一卫星对应。
在第二方面的一种可选方式中，在接入网设备向目标设备发送第一数据前，方法还包括：接入网设备从第一卫星接收第二星历信息和/或第二历书信息；接入网设备利用哈希函数处理第二星历信息和/或第二历书信息，以得到第一星历信息和/或第一历书信息。
在第二方面的一种可选方式中，第一数据在多份第一数据中离群。
在第二方面的一种可选方式中，在接入网设备向目标设备发送第一数据后，接入网设备接收目标设备发送的GNSS伪星提示，GNSS伪星提示包括第一卫星的编号；接入网设备根据多个GNSS卫星的星历信息更新接入网设备的时间，多个GNSS卫星不包括第一卫星。
本申请第三方面提供了一种识别GNSS伪星数据的装置。
该装置包括：接收模块，用于接收接入网设备发送的第一数据，第一数据包括第一星历信息和/或第一历书信息；
确定模块，用于根据多份第一数据确定异常的第一数据，多份第一数据包括异常的第一数据，多份第一数据是目标设备从多个接入网设备得到的，多份第一数据中的多份第一 星历信息和/或多份第一历书信息与第一卫星对应。
在第三方面的一种可选方式中，第一星历信息和/或第一历书信息是接入网设备根据第二星历信息和/或第二历书信息得到的，第二星历信息和/或第二历书信息是接入网设备从第一卫星得到的。
在第三方面的一种可选方式中，第一数据在多份第一数据中离群。
在第三方面的一种可选方式中，装置还包括：
发送模块，用于向接入网设备发送GNSS伪星提示，GNSS伪星提示包括第一卫星的编号。
本申请第四方面提供了一种识别GNSS伪星数据的装置。
该装置包括：发送模块，用于向目标设备发送第一数据，第一数据包括第一星历信息和/或第一历书信息，第一数据用于目标设备根据多份第一数据确定异常的第一数据，多份第一数据包括异常的第一数据，多份第一数据是目标设备从多个接入网设备得到的，多份第一数据中的多份第一星历信息和/或多份第一历书信息与第一卫星对应。
在第四方面的一种可选方式中，装置还包括：
接收模块，用于从第一卫星接收第二星历信息和/或第二历书信息；
处理模块，用于利用哈希函数处理第二星历信息和/或第二历书信息，以得到第一星历信息和/或第一历书信息。
在第四方面的一种可选方式中，第一数据在多份第一数据中离群。
在第四方面的一种可选方式中，装置还包括：
接收模块，用于接收目标设备发送的GNSS伪星提示，GNSS伪星提示包括第一卫星的编号；
更新模块，用于根据多个GNSS卫星的星历信息更新接入网设备的时间，多个GNSS卫星不包括第一卫星。
本申请第五方面提供了一种识别GNSS伪星数据的设备。
该设备包括：收发器和处理器；
所述收发器用于接收接入网设备发送的第一数据，第一数据包括第一星历信息和/或第一历书信息；
所述处理器用于根据多份第一数据确定异常的第一数据，多份第一数据包括异常的第一数据，多份第一数据是目标设备从多个接入网设备得到的，多份第一数据中的多份第一星历信息和/或多份第一历书信息与第一卫星对应。
在第五方面的一种可选方式中，第一星历信息和/或第一历书信息是接入网设备根据第二星历信息和/或第二历书信息得到的，第二星历信息和/或第二历书信息是接入网设备从第一卫星得到的。
在第五方面的一种可选方式中，第一数据在多份第一数据中离群。
在第五方面的一种可选方式中，装置还包括：
发送模块，用于向接入网设备发送GNSS伪星提示，GNSS伪星提示包括第一卫星的编号。
本申请第六方面提供了一种识别GNSS伪星数据的设备。
该设备包括：收发器和处理器；
所述收发器用于向目标设备发送第一数据，第一数据包括第一星历信息和/或第一历书信息，第一数据用于目标设备根据多份第一数据确定异常的第一数据，多份第一数据包括异常的第一数据，多份第一数据是目标设备从多个接入网设备得到的，多份第一数据中的多份第一星历信息和/或多份第一历书信息与第一卫星对应。
在第六方面的一种可选方式中，装置还包括：
接收模块，用于从第一卫星接收第二星历信息和/或第二历书信息；
处理模块，用于利用哈希函数处理第二星历信息和/或第二历书信息，以得到第一星历信息和/或第一历书信息。
在第六方面的一种可选方式中，第一数据在多份第一数据中离群。
在第六方面的一种可选方式中，装置还包括：
接收模块，用于接收目标设备发送的GNSS伪星提示，GNSS伪星提示包括第一卫星的编号；
更新模块，用于根据多个GNSS卫星的星历信息更新接入网设备的时间，多个GNSS卫星不包括第一卫星。
本申请第七方面提供了一种计算机存储介质，其特征在于，所述计算机存储介质中存储有指令，所述指令在计算机上执行时，使得所述计算机执行如第一方面或第一方面任意一种实施方式所述的方法，或使得所述计算机执行如第二方面或第二方面任意一种实施方式所述的方法。
本申请第八方面提供了一种计算机程序产品，其特征在于，所述计算机程序产品在计算机上执行时，使得所述计算机执行如第一方面或第一方面任意一种实施方式所述的方法，或使得所述计算机执行如第二方面或第二方面任意一种实施方式所述的方法。
附图说明
图1为接入网设备进行时间同步的场景结构示意图；
图2为本申请实施例的网络框架示意图；
图3为本申请实施例中识别GNSS伪星数据的流程示意图；
图4为本申请实施例中通过聚类识别GNSS伪星数据的结构示意图；
图5为本申请实施例中识别GNSS伪星数据的装置的一个结构示意图；
图6为本申请实施例中识别GNSS伪星数据的装置的另一个结构示意图；
图7为本申请实施例中识别GNSS伪星数据的设备的结构示意图。
具体实施方式
本申请实施例提供了一种识别GNSS伪星数据的方法、装置以及相关设备，应用于通信领域，可以识别GNSS伪星数据。示例性的，本申请实施例所涉及附图中的以虚线标识的特征或内容可理解为实施例可选的操作或者可选的结构。
GNSS可以为用户提供定位和时间信息的服务。GNSS包括地面站，GNSS卫星(简称卫星)和GNSS接收机。地面站负责监控。地面站通过接收、测量各个GNSS卫星的信号，计 算GNSS卫星的运行轨道，并将GNSS卫星的运行轨道信息发射给GNSS卫星，让GNSS卫星去转播。GNSS卫星负责向地面广播信号。GNSS接收机用于接收GNSS卫星广播的信号，从GNSS卫星的信号中获取GNSS卫星的星历，历书等信息。具体地，如图1所示，图1为接入网设备进行时间同步的场景结构示意图。图1包括GNSS卫星102，GNSS卫星103和GNSS卫星104，以及其它更多的GNSS卫星。接入网设备101从多个GNSS卫星接收多个星历，历书。通过解析星历中的内容，接入网设备101可以获取GNSS卫星的3维坐标。理论上，接入网设备101只需获取3个GNSS卫星的3维坐标，就可以确定自身方位置。但是由于接入网设备101和GNSS卫星可能存在钟差(也叫时差)，接入网设备101需要获取4个GNSS卫星的3维坐标，并通过以下方程组获取自身的位置和时间信息：
((x-x1) 2+(y-y1) 2+(z-z1) 2) 1/2+c×t＝r1；
((x-x2) 2+(y-y2) 2+(z-z2) 2) 1/2+c×t＝r2；
((x-x3) 2+(y-y3) 2+(z-z3) 2) 1/2+c×t＝r3；
((x-x4) 2+(y-y4) 2+(z-z4) 2) 1/2+c×t＝r4；
其中，接入网设备101的位置坐标为(x,y,z)。4颗GNSS卫星位置坐标分别为(xn,yn,zn),n＝1,2,3,4。GNSS卫星到接入网设备101的距离分别为r1,r2,r3,r4。c为光速，t为钟差。通过上述方程组，接入网设备101可以获取自身的3维坐标，以及钟差t。接入网设备101利用钟差t修正自身的时间，便可以将自身的时间和GNSS卫星的时间同步。
可是，若上述4颗GNSS卫星中包括一颗GNSS伪星，则接入网设备101根据上述方程组解出的t就可能不准确。若t不准确，则接入网设备101无法准确与GNSS卫星进行时间同步。接入网设备101的同步系统是一个单项向跟踪系统，没有闭环；当GNSS的参考源(或者通过1588接口传递过来的GNSS参考源)出现误差时，独立的接入网设备101无法识别误差，会正常跟踪已有相偏的参考源；接入网设备101的同步系统被带偏后，作为本系统的基准会被应用到基带和射频模块，导致发送的无线帧有一定的偏移，并导致周边站点的干扰。为此，本申请提供了识别GNSS伪星数据的方法。在该方法中，接入网设备向目标设备发送第一数据，第一数据包括第一星历信息或第一历书信息，目标设备根据多个接入网设备发送的多份第一数据确定异常的第一数据。其中，多份第一数据包括多份第一星历信息或多份第一历书信息，每份第一星历信息或第一历书信息都是不同接入网设备从第一卫星接收到的星历或历书信息。需要说明的是，第一星历信息或第一历书信息是接入网设备认为从第一卫星获取的数据，并不一定是第一卫星发送的数据，有可能是GNSS伪星假冒的第一卫星。
请参阅图2，图2为本申请实施例的网络框架示意图。图2包括GNSS卫星201，接入网设备202，接入网设备203，接入网设备204，干扰源205和目标设备206。GNSS卫星201周期性的广播星历或历书，由于GNSS卫星201的信号覆盖范围较大，因此会有许多接入网设备可以接收到201的星历，历书。此处只是举例说明许多接入网设备包括接入网设备202，接入网设备203，接入网设备204。干扰源205可以是来自军用设备的干扰，也可以是来自民用设备的干扰。干扰源一般分为2种，以图2中的干扰源205为例。1种是压制型的干扰源205，压制性的干扰源205会使得接入网设备204无法正常接收GNSS卫星201发送的星历和历书，使得接入网设备204接收到的星历和历书不准确。另一种是欺骗型的干扰源 205，欺骗型的干扰源205会发送GNSS卫星201类似的信号，但是该信号可能是GNSS卫星201前阵子的信号，仍然会导致使得接入网设备204接收到的星历和历书不准确。目标设备206接收多个接入网设备发送的多个第一数据，然后根据多个第一数据确定异常的第一数据。
本申请实施例中的接入网设备202～204是网络中用于将终端设备接入到无线网络的设备。接入网设备安装有星卡或GNSS接收机。接入网设备可以为无线接入网中的节点，又可以称为基站，还可以称为无线接入网(radio access network，RAN)节点(或设备)。网络设备可以包括长期演进(long term evolution，LTE)系统或演进的LTE系统(LTE-Advanced，LTE-A)中的演进型基站(NodeB或eNB或e-NodeB，evolutional Node B)，如传统的宏基站eNB和异构网络场景下的微基站eNB，或者也可以包括第五代移动通信技术(5th generation，5G)新无线(new radio，NR)系统中的下一代节点B(next generation node B，gNB)，或者还可以包括无线网络控制器(radio network controller，RNC)、节点B(Node B，NB)、基站控制器(base station controller，BSC)、基站收发台(base transceiver station，BTS)、传输接收点(transmission reception point，TRP)、家庭基站(例如，home evolved NodeB，或home Node B，HNB)、基带单元(base band unit，BBU)、基带池BBU pool，或WiFi接入点(access point，AP)等。
本申请实施例中的目标设备206可以是服务器，台式电脑，笔记本电脑。还可以某台网管设备。GNSS卫星201可以是GPS卫星，或者北斗卫星等。
第一数据包括第一星历数据和/或第一历书数据。为了方便描述，下面将以第一数据包括第一星历信息为例，对本申请实施例中的识别GNSS伪星数据的方法进行描述。请参阅图3，图3为本申请实施例中识别GNSS伪星数据的流程示意图。
在步骤301中，接入网设备获取第二星历信息。
接入网设备可以是上述图2中的接入网设备202～204。接入网设备从第一卫星的导航电文中接收第二星历信息。以GPS为例，GPS的导航电文以帧的形式编排为比特流，每一帧为1500比特，这1500比特又分为5个子帧，每个子帧为300比特。每一子帧又分为10个字。每一比特发送需要20ms，发送一帧需要30s。导航电文的第二子帧和第三子帧的数据合在一起可以提供一套卫星星历(Ephemeris)参数。星历参数包括星历参考时间，卫星轨道半长轴A的平方根，卫星轨道偏心率，星历参考时间时的轨道倾角，近地点角距等。除了星历参数，导航电文的第二子帧和第三子帧还包括星历数据的期号，星历数据的有效期指示标志，AODO(Age of Data Offset)等，第二星历信息包括星历参数的部分或全部信息，例如第二星历信息包括星历参考时间，或者第二星历信息包括星历参考时间和卫星轨道半长轴A的平方根。同理，当第一数据包括第一历书信息，与第一历书信息对应的第二历书信息可以包括历书参数的部分或全部信息。历书参数携带于导航电文的第四子帧和第五子帧。
GPS卫星属于地球中轨卫星，卫星轨道的平均高度约为20200km，运行轨道是一个很接近于正圆的椭圆，运行周期为11小时58分。考虑到周期为24小时的地球自转，那么相对于地面上的一个固定观测点而言，卫星的运行和分布状况大约每隔23小时56分(1436分)重复一次。当接入网设备接收的第二星历信息不符合该周期性的要求时，接入网设备需要 排除该第二星历信息。即在步骤303中，接入网设备不向目标设备发送第一星历信息。由于接入网设备一般可以接收到多个卫星的星历信息，因为排除个别星历信息并不会影响本申请实施例中识别GNSS伪星数据的方法。
在步骤302中，接入网设备通过哈希函数处理第二星历信息，得到第一星历信息。
哈希(Hash)函数,即散列函数。它是一种单向密码体制,即它是一个从明文到密文的不可逆的映射,只有加密过程,没有解密过程。同时,哈希函数可以将任意长度的输入经过变化以后得到固定长度的输出。哈希函数的这种单向特征和输出数据长度固定的特征使得它可以生成消息或者数据。本申请通过使用哈希函数处理第二星历信息，得到数据量较小的第一星历信息。
在步骤303中，接入网设备向目标设备发送第一星历信息。
除了第一星历信息，接入网设备还可以向目标设备发送第一卫星的编码，用于表示第一星历信息与第一卫星的对应关系。因为在实际应用中，接入网设备除了可以获取第一卫星的第一星历信息，还可以获取其它卫星的星历信息，向目标设备发送其它卫星的星历信息。因此，接入网设备需要保证星历信息和卫星的对应关系。当然，接入网设备也可以不向目标设备发送第一卫星的编码。例如，接入网设备需要向目标设备发送32颗卫星中的6颗卫星对应的星历信息。接入网设备生成一张32个空位的表格，32个空位和32颗卫星一一对应。接入网设备将6颗卫星对应的星历信息填入表格中对应的6个空位，向目标设备发送该表格。目标设备根据事先和接入网设备的约定，便可以通过星历信息在表格中的位置，确定每个星历信息对应的卫星。
在步骤304中，目标设备根据多份第一星历信息确定异常的第一星历信息。
目标设备可以从多个接入网设备接收到多份第一星历信息，每份第一星历信息都与第一卫星对应。同一颗卫星发送的星历参数或历书参数有时效性和周期性，对应不同卫星没有规律可循；GNSS伪星很难仿造时效性和周期性。因此，每份第一星历信息应当相同或类似。以第一星历信息包括星历参考时间为例，多份第一星历信息包括多份星历参考时间。当某个星历参考时间在多份星历参考时间中离群，则目标设备可以确定该星历参考时间对应的第一星历信息异常。第一星历信息为异常的星历信息。本申请并不限制离群的相关算法，例如某个星历参考时间与多份星历参考时间的中值的差值大于N。
[根据细则91更正 22.12.2021]　
目标设备可以从多个接入网设备接收到多份第一星历信息，目标设备可以对多份第一星历信息进行聚类。将相同或相近的第一星历信息归为一类。通过聚类可以得到多数类和少数类。以图4为例，图4为本申请实施例中通过聚类识别GNSS伪星数据的结构示意图。在图4中，目标设备将多份第一星历信息分为了5个组，分别是组1（Group 1），组2（Group 2），组3（Group3），组4（Group 4）和组m（Group m）。其中，组 1，组2，组 3，组 4为少数类，也称为异常聚类。组 m为多数类，也称为正常聚类。每个少数类中的第一星历数据的个数一般少于10个，因为GNSS伪星，即干扰源的发射功率有限。少数类中的第一星历信息便为异常的第一星历数据。
异常的第一星历信息对应的第一卫星便是异常的第一卫星，依次类推，目标设备还可以判断其它的卫星是否为伪星，可以得到表一。
Figure PCTCN2021126328-appb-000001
表一
如表一所示，第一列表示时间，更为具体地，该时间可以具体到小时。第二列表示接入网设备的代号，例如gNB1，gNB2等。第三列表示卫星的在位状态，例如对于gNB1而言，总共有32个GNSS卫星，8号卫星在位，9号卫星不在位。例如对于gNB2而言，8号卫星不在位，9号卫星不在位。当然，对于gNB1而言，8号卫星有可能是伪星，即真的8号卫星可能不在位。第三列表示卫星的状态，是目标设备根据异常的星历信息得到，例如gNB1中的8号卫星，gNB1向目标设备发送了8号卫星对应的星历信息，目标设备根据多个接入网设备发送的与8号卫星对应的多个星历信息后，确定gNB1发送的星历信息为异常的星历信息，从而确定gNB1中的8号卫星为伪星。类似的，gNB1中的6号卫星也被目标设备确定为伪星。
在步骤305中，目标设备向接入网设备发送GNSS伪星提示。
在上述步骤304中，目标设备确定了异常的第一星历信息，目标设备向发送该第一星历信息的接入网设备发送GNSS伪星提示。此处，假设异常的第一星历信息为在步骤303中接入网设备向目标设备发送的。在GNSS伪星提示中，包括第一卫星的编码。
之后，接入网设备在根据多个卫星的星历信息与卫星进行时间同步。具体地，接入网设备采用上述图1的相关描述中的方程组计算钟差t。在使用4个卫星的星历信息计算该方程组时，4个卫星不包括第一卫星。因此，接入网设备可以提高t的准确性，提高了时间同步的准确性。
上面对本申请实施例中识别GNSS伪星数据的方法进行了描述，下面对本申请实施例中识别GNSS伪星数据的装置进行描述。请参阅图5，图5为本申请实施例中识别GNSS伪星数据的装置的一个结构示意图。
该装置包括：接收模块501，用于接收接入网设备发送的第一数据，第一数据包括第一星历信息和/或第一历书信息；
确定模块502，用于根据多份第一数据确定异常的第一数据，多份第一数据包括异常的第一数据，多份第一数据是目标设备从多个接入网设备得到的，多份第一数据中的多份第一星历信息和/或多份第一历书信息与第一卫星对应。
在其他实施例中，该装置还可以包括发送模块等。该装置中的模块具体用于执行前述图4对应的实施例中的目标设备可以执行的全部或部分操作。
请参阅图6，图6为本申请实施例中识别GNSS伪星数据的装置的另一个结构示意图。
该装置包括：发送模块601，用于向目标设备发送第一数据，第一数据包括第一星历信息和/或第一历书信息，第一数据用于目标设备根据多份第一数据确定异常的第一数据，多份第一数据包括异常的第一数据，多份第一数据是目标设备从多个接入网设备得到的，多份第一数据中的多份第一星历信息和/或多份第一历书信息与第一卫星对应。
在其他实施例中，该装置还可以包括接收模块或处理模块等。该装置中的模块具体用于执行前述图4对应的实施例中的接入网设备可以执行的全部或部分操作。
上面对本申请实施例中识别GNSS伪星数据的装置进行了描述，下面对本申请实施例中的识别GNSS伪星数据的设备进行描述。
请参阅图7，图7为本申请实施例中识别GNSS伪星数据的设备的结构示意图。
如图7所示，识别GNSS伪星数据的设备700包括处理器710，与所述处理器710耦接的收发器720。处理器710可以是中央处理器(central processing unit，CPU)，网络处理器(network processor，NP)或者CPU和NP的组合。处理器还可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)，通用阵列逻辑(generic array logic,GAL)或其任意组合。处理器710可以是指一个处理器，也可以包括多个处理器。
在其他实施例中，识别GNSS伪星数据的设备还包括存储器，存储器可以包括易失性存储器(volatile memory)，例如随机存取存储器(random-access memory，RAM)；存储器720也可以包括非易失性存储器(non-volatile memory)，例如只读存储器(read-only memory，ROM)，FRAM存储器，快闪存储器(flash memory)，硬盘(hard disk drive，HDD)或固态硬盘(solid-state drive，SSD)；存储器还可以包括上述种类的存储器的组合。
当识别GNSS伪星数据的设备是目标设备时：
收发器720用于接收接入网设备发送的第一数据，第一数据包括第一星历信息和/或第一历书信息；处理器710用于根据多份第一数据确定异常的第一数据，多份第一数据包括异常的第一数据，多份第一数据是目标设备从多个接入网设备得到的，多份第一数据中的多份第一星历信息和/或多份第一历书信息与第一卫星对应。
在其他实施例中，处理器710还用于执行存储器中的计算机可读指令后，按照所述计算机可读指令的指示，执行目标设备可以执行的全部或部分操作，例如目标设备在与图3对应的实施例中执行的操作。
当识别GNSS伪星数据的设备是接入网设备时：
收发器720用于向目标设备发送第一数据，第一数据包括第一星历信息和/或第一历书信息，第一数据用于目标设备根据多份第一数据确定异常的第一数据，多份第一数据包括异常的第一数据，多份第一数据是目标设备从多个接入网设备得到的，多份第一数据中的多份第一星历信息和/或多份第一历书信息与第一卫星对应。
在其他实施例中，处理器710还用于执行存储器中的计算机可读指令后，按照所述计算机可读指令的指示，执行接入网设备可以执行的全部或部分操作，例如接入网设备在与图3对应的实施例中执行的操作。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统，装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：闪存盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。

Claims (17)

  1. 一种识别全球导航卫星系统GNSS伪星数据的方法，其特征在于，包括：
    目标设备接收接入网设备发送的第一数据，所述第一数据包括第一星历信息和/或第一历书信息；
    所述目标设备根据多份第一数据确定异常的第一数据，所述多份第一数据包括所述异常的第一数据，所述多份第一数据是所述目标设备从多个接入网设备得到的，所述多份第一数据中的多份第一星历信息和/或多份第一历书信息与第一卫星对应。
  2. 根据权利要求1所述的方法，其特征在于，所述第一星历信息和/或所述第一历书信息是所述接入网设备利用哈希函数从第二星历信息和/或第二历书信息得到的，第二星历信息和/或第二历书信息是所述接入网设备从所述第一卫星得到的。
  3. 根据权利要求1或2所述的方法，其特征在于，所述第一数据在所述多份第一数据中离群。
  4. 根据权利要求1至3任意一项所述的方法，其特征在于，在所述目标设备接收所述接入网设备发送的所述第一数据后，所述方法还包括：
    所述目标设备向接入网设备发送GNSS伪星提示，所述GNSS伪星提示包括所述第一卫星的编号。
  5. 一种识别全球导航卫星系统GNSS伪星数据的方法，其特征在于，包括：
    接入网设备向目标设备发送第一数据，所述第一数据包括第一星历信息和/或第一历书信息，所述第一数据用于所述目标设备根据多份第一数据确定异常的第一数据，所述多份第一数据包括所述异常的第一数据，所述多份第一数据是所述目标设备从多个接入网设备得到的，所述多份第一数据中的多份第一星历信息和/或多份第一历书信息与第一卫星对应。
  6. 根据权利要求5所述的方法，其特征在于，在所述接入网设备向所述目标设备发送所述第一数据前，所述方法还包括：
    所述接入网设备从所述第一卫星接收第二星历信息和/或第二历书信息；
    所述接入网设备利用哈希函数处理所述第二星历信息和/或所述第二历书信息，以得到所述第一星历信息和/或所述第一历书信息。
  7. 根据权利要求5或6所述的方法，其特征在于，所述第一数据在所述多份第一数据中离群。
  8. 根据权利要求5至7任意一项所述的方法，其特征在于，在所述接入网设备向所述目标设备发送所述第一数据后，所述方法还包括：
    所述接入网设备接收所述目标设备发送的GNSS伪星提示，所述GNSS伪星提示包括所述第一卫星的编号；
    所述接入网设备根据多个GNSS卫星的星历信息更新所述接入网设备的时间，所述多个GNSS卫星不包括所述第一卫星。
  9. 一种识别全球导航卫星系统GNSS伪星数据的装置，其特征在于，包括：
    接收模块，用于接收接入网设备发送的第一数据，所述第一数据包括第一星历信息和/或第一历书信息；
    确定模块，用于根据多份第一数据确定异常的第一数据，所述多份第一数据包括所述 异常的第一数据，所述多份第一数据是所述目标设备从多个接入网设备得到的，所述多份第一数据中的多份第一星历信息和/或多份第一历书信息与第一卫星对应。
  10. 根据权利要求9所述的装置，其特征在于，所述第一星历信息和/或所述第一历书信息是所述接入网设备根据第二星历信息和/或第二历书信息得到的，第二星历信息和/或第二历书信息是所述接入网设备从所述第一卫星得到的。
  11. 根据权利要求9或10所述的装置，其特征在于，所述第一数据在所述多份第一数据中离群。
  12. 根据权利要求9至11任意一项所述的装置，其特征在于，所述装置还包括：
    发送模块，用于向接入网设备发送GNSS伪星提示，所述GNSS伪星提示包括所述第一卫星的编号。
  13. 一种识别全球导航卫星系统GNSS伪星数据的装置，其特征在于，包括：
    发送模块，用于向目标设备发送第一数据，所述第一数据包括第一星历信息和/或第一历书信息，所述第一数据用于所述目标设备根据多份第一数据确定异常的第一数据，所述多份第一数据包括所述异常的第一数据，所述多份第一数据是所述目标设备从多个接入网设备得到的，所述多份第一数据中的多份第一星历信息和/或多份第一历书信息与第一卫星对应。
  14. 根据权利要求13所述的装置，其特征在于，所述装置还包括：
    接收模块，用于从所述第一卫星接收第二星历信息和/或第二历书信息；
    处理模块，用于利用哈希函数处理所述第二星历信息和/或所述第二历书信息，以得到所述第一星历信息和/或所述第一历书信息。
  15. 根据权利要求13或14所述的装置，其特征在于，所述第一数据在所述多份第一数据中离群。
  16. 根据权利要求13至15任意一项所述的装置，其特征在于，所述装置还包括：
    接收模块，用于接收所述目标设备发送的GNSS伪星提示，所述GNSS伪星提示包括所述第一卫星的编号；
    更新模块，用于根据多个GNSS卫星的星历信息更新所述接入网设备的时间，所述多个GNSS卫星不包括所述第一卫星。
  17. 一种识别全球导航卫星系统GNSS伪星数据的设备，其特征在于，该设备包括收发器和处理器，所述收发器和所述处理器用于执行前述权利要求1至4任一项所述的方法；或所述收发器和所述处理器用于执行前述权利要求5至8任一项所述的方法。
PCT/CN2021/126328 2020-10-29 2021-10-26 识别gnss伪星数据的方法、装置以及相关设备 WO2022089405A1 (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP21885132.7A EP4220991A4 (en) 2020-10-29 2021-10-26 METHOD, APPARATUS, AND ASSOCIATED DEVICE FOR IDENTIFYING GNSS PSEUDO-SATELLITE DATA
JP2023525102A JP7467774B2 (ja) 2020-10-29 2021-10-26 Ｇｎｓｓシュードライトデータを識別するための方法、装置、および関連デバイス
US18/307,927 US20240077621A1 (en) 2020-10-29 2023-04-27 Method, apparatus, and related device for identifying gnss pseudolite data

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011180719.XA CN114430292B (zh) 2020-10-29 2020-10-29 识别gnss伪星数据的方法、装置以及相关设备
CN202011180719.X 2020-10-29

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US18/307,927 Continuation US20240077621A1 (en) 2020-10-29 2023-04-27 Method, apparatus, and related device for identifying gnss pseudolite data

Publications (1)

Publication Number Publication Date
WO2022089405A1 true WO2022089405A1 (zh) 2022-05-05

Family

ID=81309741

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/126328 WO2022089405A1 (zh) 2020-10-29 2021-10-26 识别gnss伪星数据的方法、装置以及相关设备

Country Status (5)

Country Link
US (1) US20240077621A1 (zh)
EP (1) EP4220991A4 (zh)
JP (1) JP7467774B2 (zh)
CN (1) CN114430292B (zh)
WO (1) WO2022089405A1 (zh)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6336076B1 (en) * 1998-08-24 2002-01-01 Rockwell Collins, Inc. Long range GNSS ephemeris data transfer method and apparatus using the same
JP2005207892A (ja) * 2004-01-22 2005-08-04 Denso Corp 電波送信装置及びナビゲーション装置
CN100409027C (zh) * 1995-10-09 2008-08-06 快速追踪有限公司 处理gps信号的gps接收机及方法
CN107064963A (zh) * 2017-04-13 2017-08-18 中国人民解放军理工大学 一种虚假卫星星历的检测方法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3537504B2 (ja) * 1994-09-30 2004-06-14 古野電気株式会社 測位システム
JP3595093B2 (ja) * 1997-01-30 2004-12-02 株式会社東芝 Ｇｐｓ衛星標定装置
JP3694395B2 (ja) * 1997-10-09 2005-09-14 松下電器産業株式会社 Ｇｐｓ受信機及び受信方法
US7956803B2 (en) * 2008-12-01 2011-06-07 Andrew, Llc System and method for protecting against spoofed A-GNSS measurement data
US8531332B2 (en) * 2010-03-22 2013-09-10 Qualcomm Incorporated Anti-spoofing detection system
CN101950025B (zh) * 2010-08-11 2013-01-23 中国电子科技集团公司第二十研究所 用于局域增强系统的数据质量监测方法
CN103116171A (zh) * 2013-01-21 2013-05-22 江苏指南针导航通信技术有限公司 卫星导航信号的虚假检测方法及卫星导航定位接收机
EP2796895B1 (en) * 2013-04-23 2020-08-05 Airbus Defence and Space GmbH Detecting of a spoofing jammer for gnss signals
CN106970399B (zh) * 2017-02-22 2020-01-21 清华大学 基于调频数据广播的导航方法、终端、信息处理中心和导航接收机
CN110708669B (zh) * 2019-10-09 2021-02-19 广州小鹏汽车科技有限公司 一种车辆定位方法、装置、车辆和计算机可读存储介质

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100409027C (zh) * 1995-10-09 2008-08-06 快速追踪有限公司 处理gps信号的gps接收机及方法
US6336076B1 (en) * 1998-08-24 2002-01-01 Rockwell Collins, Inc. Long range GNSS ephemeris data transfer method and apparatus using the same
JP2005207892A (ja) * 2004-01-22 2005-08-04 Denso Corp 電波送信装置及びナビゲーション装置
CN107064963A (zh) * 2017-04-13 2017-08-18 中国人民解放军理工大学 一种虚假卫星星历的检测方法

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4220991A4

Also Published As

Publication number Publication date
EP4220991A1 (en) 2023-08-02
CN114430292B (zh) 2023-04-11
EP4220991A4 (en) 2024-03-20
JP7467774B2 (ja) 2024-04-15
US20240077621A1 (en) 2024-03-07
JP2023549065A (ja) 2023-11-22
CN114430292A (zh) 2022-05-03

Similar Documents

Publication Publication Date Title
JP7052006B2 (ja) 測位支援データ送信方法および測位支援データ送信システムならびにデバイス
US20230199802A1 (en) Sidelink resource pool configuration
US10101464B2 (en) Geospatial positioning using correction information provided over cellular control channels
US11962396B2 (en) Satellite communication method and apparatus, terminal device, satellite, and readable storage medium
TW202027543A (zh) 用於有效時間及廣播位置輔助資料之改變通知之系統及方法
WO2017070910A1 (zh) 移动网络中的定位方法、服务器、基站、移动终端和系统
WO2017071650A1 (zh) 移动网络中的定位方法、基站和移动终端
US20200068348A1 (en) Assistance data transmission method, device, and system
WO2019121746A1 (en) Broadcast and utilization of precise gnss correction data
WO2017070909A1 (zh) 移动网络中的定位方法、基站和移动终端
JP7171752B2 (ja) 測位システム情報の送信及び受信のための無線ネットワークノード、無線デバイス及び方法
US20200229072A1 (en) System information change indication method and apparatus
KR102397168B1 (ko) 무선 통신 네트워크에서의 서버, 무선 네트워크 노드, 및 방법들
WO2019061208A1 (zh) 一种数据传输方法、服务器及基站
WO2022028552A1 (zh) 一种通信方法及装置
US20240210514A1 (en) Enhancing location estimate accuracy
Vana et al. Analysis of GNSS correction data standards for the automotive market
WO2022089405A1 (zh) 识别gnss伪星数据的方法、装置以及相关设备
US20230288570A1 (en) Ionosphere Grid History and Compression for GNSS Positioning
CN111586833A (zh) 一种定位方法、装置、终端、基站及管理功能实体
WO2014063617A1 (zh) 电离层延迟修正参数的配置方法、装置及系统
US20240183992A1 (en) Real time gnss space vehicle broadcast data quality monitoring using crowd-sourced data from road side units

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21885132

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2023525102

Country of ref document: JP

ENP Entry into the national phase

Ref document number: 2021885132

Country of ref document: EP

Effective date: 20230426

NENP Non-entry into the national phase

Ref country code: DE