WO2023198072A1 - Dispositif électronique et procédé de positionnement associé, et support - Google Patents

Dispositif électronique et procédé de positionnement associé, et support Download PDF

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Publication number
WO2023198072A1
WO2023198072A1 PCT/CN2023/087670 CN2023087670W WO2023198072A1 WO 2023198072 A1 WO2023198072 A1 WO 2023198072A1 CN 2023087670 W CN2023087670 W CN 2023087670W WO 2023198072 A1 WO2023198072 A1 WO 2023198072A1
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WIPO (PCT)
Prior art keywords
electronic device
signal
positioning
gnss
signals
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PCT/CN2023/087670
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English (en)
Chinese (zh)
Inventor
黄庆超
吴泰洋
鲁鸿宇
丁根明
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华为技术有限公司
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Publication of WO2023198072A1 publication Critical patent/WO2023198072A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Definitions

  • the present application relates to the technical fields of signal processing and anti-interference, and in particular to an electronic device and its positioning method and medium.
  • GNSS Global Navigation Satellite Systems
  • GPS Global Positioning System
  • Glonass Global Navigation Satellite System
  • Galileo satellite navigation system Galileo Satellite navigation system
  • Galileo satellite navigation system Galileo
  • Beidou satellite navigation system etc.
  • GNSS can provide positioning, velocity and time services (Position, Velocity and Time, PVT) and is widely used in vehicle or personal navigation, aircraft navigation and landing systems, power transmission networks, digital communication networks, precision agriculture, geological exploration and other fields.
  • the spoofing device can block the electronic device from obtaining the real satellite signal from the satellite navigation system by forwarding a processed or autonomously generated spoofing signal that is similar to the real satellite signal, causing the electronic device to accept the spoofing signal, causing the electronic device to act according to the spoofing signal. Getting wrong PVT results.
  • the spoofing signal here may be a signal generated by a spoofing device that has the same authentication information and signal format as the real satellite signal but carries different PVT data. Therefore, a spoofing signal detection technology is needed to ensure that electronic devices can eliminate spoofing signals and receive real satellite signals from satellite navigation systems.
  • Embodiments of the present application provide an electronic device and its positioning method and medium.
  • the first aspect of this application provides a positioning method applied to electronic equipment, characterized in that the method includes:
  • the positioning requirements are met, and the positioning results generated based on the multiple satellite signals are obtained.
  • the electronic device here may be a terminal device with positioning function such as a mobile phone or a tablet computer.
  • the positioning service here can be a navigation application that implements positioning through GPS.
  • the preset time period here can be the time period during which the electronic device continues to obtain satellite signals after turning on the positioning service.
  • the positioning result here can be the time period corresponding to the positioning service. bit results, for example, the navigation route corresponding to the navigation service.
  • Electronic equipment can collect time-varying satellite signals within a preset time period and calculate the correlation coefficient of the power sequence of each satellite signal.
  • the correlation coefficient here can be used to represent the similarity between the fading characteristics corresponding to each satellite signal. , compare the correlation coefficient with the preset threshold.
  • the satellite signal can be determined to be a real signal; if the correlation coefficient between the fading characteristics corresponding to each satellite signal is greater than the preset threshold, it means that the correlation coefficient is large, indicating that the fading characteristics corresponding to each group of satellite signals are The similarity between them is high, and each satellite signal can be determined to be a spoofing signal.
  • electronic devices can identify satellite signal spoofing attacks based on the significantly different fading characteristics of satellite signals acquired by different navigation satellites corresponding to different propagation channels in the satellite navigation system, effectively solving the problems in satellite navigation technology.
  • Security issues to create a secure foundation for location-based services.
  • obtaining the signal power change sequence of multiple satellite signals within a preset time period includes:
  • a sequence of signal power changes of the signal is obtained based on tracking the signal power of multiple satellite signals within a preset time period using navigation satellite numbers.
  • positioning requirements include:
  • the average value of the correlation coefficient between the fading characteristics of the signal power of each satellite signal within the preset time period is lower than the preset threshold, where the correlation coefficient is used to represent two satellite signals in the signal power change sequence of multiple satellite signals.
  • the similarity of fading characteristics between signal power change sequences is lower than the preset threshold, where the correlation coefficient is used to represent two satellite signals in the signal power change sequence of multiple satellite signals.
  • the preset threshold is related to a motion state of the electronic device, where the motion state is used to indicate that the electronic device is in at least one of a stationary state or a moving state.
  • the positioning service of the electronic device can obtain at least four different satellite signals, and the satellite signals can come from at least four different navigation satellites.
  • the preset threshold here may be related to whether the electronic device is in a stationary state or a moving state, and different preset thresholds are set for the stationary state and the moving state.
  • the electronic device can compare the acquired satellite signal power correlation coefficient with different preset thresholds based on the current status of the electronic device to more accurately determine whether the satellite signal is a real signal or a spoofed signal.
  • the correlation coefficient is obtained through at least one of Pearson correlation coefficient, Spearman correlation coefficient, Kendall correlation coefficient and similarity measure neural network model.
  • the electronic device can use correlation to measure the fading characteristics of the change sequence corresponding to the signal power of the satellite signal (that is, the signal power change sequence).
  • the specific correlation measurement method includes: through correlation Coefficients and similarity measure neural networks.
  • the motion state of the electronic device is determined in the following manner:
  • the motion state of the electronic device is determined.
  • the fading characteristics corresponding to multiple satellite signals within multiple preset time periods do not meet the positioning requirements, prompting the user that the positioning service is abnormal.
  • the method for prompting the user to locate the service abnormality includes at least one of the following: A sort of:
  • the electronic device prompts that the satellite signal received by the positioning service is incorrect
  • the electronic device prompts that location services will be re-enabled.
  • the second aspect of the present application provides an electronic device, which is characterized in that it includes:
  • a processor configured to execute the positioning method provided in the first aspect
  • Memory which may be coupled or decoupled from the processor, stores instructions for execution by the processor.
  • a third aspect of the present application provides a computer-readable storage medium, which is characterized in that the computer-readable storage medium contains instructions, and when the instructions are executed by the processor of the electronic device, the electronic device enables the electronic device to implement the aforementioned method provided in the first aspect. Positioning method.
  • a fourth aspect of the present application provides a computer program product, which is characterized in that it includes: a computer-readable storage medium, and the computer-readable storage medium contains computer program code for executing the positioning method provided in the first aspect.
  • FIG. 1 shows a schematic diagram of a scenario in which an electronic device receives a satellite signal (GNSS signal) according to an embodiment of the present application;
  • GNSS signal satellite signal
  • Figure 2 shows a schematic diagram of a fading curve of an electronic device receiving a satellite signal (GNSS signal) according to an embodiment of the present application
  • Figure 3 shows a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present application
  • Figure 4 shows a schematic flow chart of a positioning method according to an embodiment of the present application
  • Figure 5 shows a schematic diagram of a positioning method according to an embodiment of the present application
  • Figure 6 shows a schematic flow chart of a positioning method according to an embodiment of the present application
  • Figure 7 shows a schematic flow chart of a positioning method according to an embodiment of the present application.
  • Figure 8 shows a schematic flowchart of a positioning method according to an embodiment of the present application.
  • FIG. 1 shows a schematic diagram of a scenario in which an electronic device 100 receives a GNSS signal (that is, a satellite signal) from a satellite navigation system 200 and receives a spoofing signal from a spoofing device 300 according to some embodiments of the present application.
  • the spoofing device 300 here may be an electronic device that generates a spoofing signal similar to the GNSS signal of the satellite navigation system 200 .
  • the electronic device 100 is running a PVT service (eg, positioning service), and the PVT service receives real GNSS signals from the satellite navigation system 200 .
  • the spoofing device 300 can generate a spoofing signal that has the same authentication information, signal format, etc.
  • the specific process of the spoofing device 300 implementing spoofing interference includes: after receiving the real GNSS signal, the spoofing device 300 then sends a high-power spoofing signal with a frequency similar to the real GNSS signal, so that the electronic device 100 that is tracking and processing the real GNSS signal The tracking loop loses lock, that is, the electronic device 100 is in a state of not receiving the GNSS signal of the satellite navigation system 200, and then When the electronic device 100 enters the loss-of-lock and reacquisition phase, since the spoofing signal is similar to the real GNSS signal and the power of the spoofing signal is higher than the real GNSS signal, the electronic device 100 may misjudge the high-power spoofing signal as the real one.
  • the GNSS signal enables the electronic device
  • the GNSS signals will be affected by the atmosphere during propagation, causing the electromagnetic wave amplitude of the GNSS signals to change over time. Rapid irregular changes occur, that is, the rapid fading of electromagnetic waves.
  • the electromagnetic wave amplitude of the GNSS signal here can be represented by the Carrier Noise Ratio (CNR) of the GNSS signal power.
  • CNR Carrier Noise Ratio
  • the ionosphere can produce ionospheric scintillation on GNSS signals, causing The electromagnetic wave amplitude of the GNSS signal undergoes short-period irregular changes. At the same time, the GNSS signal will also be affected by ambient temperature, air temperature, air pressure, etc. during the propagation process, causing the GNSS signal to refract and rapid fading of the electromagnetic wave amplitude. Since the propagation paths of real GNSS signals are from different navigation satellites to electronic equipment, they are affected by different atmospheric effects during the propagation process.
  • GNSS spoofing signals different GNSS signal powers (carrier-to-noise ratios) have different fading characteristics; as for GNSS spoofing signals,
  • the propagation path of the GNSS spoofing signal is from the spoofing device to the electronic device.
  • the GNSS spoofing signal will not be affected by the atmosphere, and the signal propagation path is the same. Therefore, the fading characteristics of each GNSS spoofing signal sent by the spoofing device 300 are similar.
  • embodiments of the present application provide a positioning method.
  • the electronic device can calculate the fading characteristics of each received GNSS signal by verifying the fading characteristics.
  • the similarity of the fading characteristics between various GNSS signals determines whether the GNSS signal received by the electronic device is a real GNSS signal or a GNSS spoofing signal, and then identifies GNSS spoofing attack behavior.
  • the electronic device 100 when the electronic device 100 uses the PVT service by receiving GNSS signals; the electronic device 100 first identifies the navigation satellite number carried by the GNSS signal used in the current PVT solution, that is, The number of Pseudo Random Noise (PRN) is the navigation satellite PRN code. It can be understood that the navigation satellite PRN code here is public.
  • the spoofing device can generate and send a spoofing signal similar to the real GNSS signal based on the desired PVT spoofing result and combined with the corresponding ephemeris data (the location of the navigation satellite).
  • the electronic device 100 obtains the number (PRN code) of the satellite currently used in the PVT service, tracks the power change of the GNSS signal (satellite signal) within a preset time period according to the PRN code, and then obtains the signal power corresponding to the GNSS signal (i.e., carrier-to-noise ratio). ) data sequence (the signal power data sequence here can also be called the signal power change sequence).
  • PRN code the number of the satellite currently used in the PVT service
  • tracks the power change of the GNSS signal i.e., carrier-to-noise ratio).
  • the signal power data sequence here can also be called the signal power change sequence.
  • the electronic device 100 needs to obtain at least four different GNSS signals. If the GNSS signals are real signals, the at least four different GNSS signals can come from at least four different navigation satellites.
  • the electronic device 100 can track each GNSS signal through the navigation satellite number (PRN code) to obtain at least four sets of GNSS Data sequence of signal power. That is, the electronic device 100 can collect data sequences of at least four groups of GNSS signal powers that change with time within a preset time period, and calculate the correlation coefficient between the power of each group of GNSS signals.
  • the correlation coefficient here can be used to Indicates the similarity between the fading characteristics corresponding to each group of GNSS signals. Compare the correlation coefficient with the preset threshold.
  • the correlation coefficient between the fading characteristics corresponding to each group of GNSS signals is less than the preset threshold, it indicates correlation.
  • a small coefficient indicates that the similarity between the fading characteristics corresponding to each GNSS signal is low, and the GNSS signal can be determined to be a real signal; if the correlation coefficient between the fading characteristics corresponding to each group of GNSS signals is greater than the preset threshold, it means The larger the correlation coefficient, the higher the similarity between the fading characteristics corresponding to each group of GNSS signals, and the GNSS can be determined.
  • the signal is a deceptive signal.
  • the electronic device 100 can also collect the inertial navigation data of the electronic device 100, that is, the speed and acceleration data of the electronic device 100, and identify During the collection of GNSS signals by the electronic device 100, whether the electronic device 100 is in a stationary state or a moving state, and different preset thresholds are set for the stationary state and the moving state, so that the electronic device 100 can obtain the GNSS signals according to the current state of the electronic device 100.
  • the power correlation coefficient is compared with different preset thresholds to more accurately determine whether the GNSS signal is a real signal or a spoofed signal.
  • the electronic device 100 can identify GNSS signal spoofing attacks based on the significant differences in the GNSS signals obtained by different navigation satellites corresponding to different propagation channels in the satellite navigation system 200 , effectively solving the problem of satellite navigation technology. security issues, and create a security foundation for location-based services (Location Based Service, LBS).
  • LBS Location Based Service
  • FIG. 2 shows the fading curve of a data sequence of GNSS signal power (carrier-to-noise ratio) that changes with time for real GNSS signals and GNSS spoofing signals (pseudo signals) collected by an electronic device 100 according to some embodiments of the present application.
  • the data sequence in Figure 2 includes: when the electronic device 100 is in a stationary scene and a walking scene (moving scene), the electronic device 100 collects the data sequence of the real GNSS signal and the GNSS spoofing signal as the GNSS signal power changes over time. .
  • the electronic device in the embodiment of the present application may be a terminal device capable of running a navigation application to implement PVT services.
  • the terminal device may include: a vehicle-mounted device, a mobile phone, a tablet computer, a notebook computer, a handheld computer, and a mobile Internet Devices (mobile internet device, MID), wearable devices (for example: smart watches, smart bracelets, pedometers, etc.), personal digital assistants, portable media players, navigation devices, video game devices, set-top boxes, virtual reality and /or augmented reality devices, Internet of Things devices, industrial control devices, streaming media client devices, e-book reading devices, and other devices.
  • MID mobile internet device
  • wearable devices for example: smart watches, smart bracelets, pedometers, etc.
  • personal digital assistants portable media players, navigation devices, video game devices, set-top boxes, virtual reality and /or augmented reality devices, Internet of Things devices, industrial control devices, streaming media client devices, e-book reading devices, and other devices.
  • FIG. 3 shows a schematic structural diagram of an electronic device 100 according to an embodiment of the present application.
  • the electronic device 100 may include a processor 110, an external memory interface 120, an internal memory 121, and a universal serial bus (universal serial bus, USB) interface 130. , charging management module 140, power management module 141, battery 142, antenna 1, antenna 2, mobile communication module 150, wireless communication module 160, audio module 170, speaker 170A, receiver 170B, microphone 170C, headphone interface 170D, sensor module 180 , button 190, motor 191, indicator 192, camera 193, display screen 194, and subscriber identification module (subscriber identification module, SIM) card interface 195, etc.
  • SIM subscriber identification module
  • the sensor module 180 may include a pressure sensor 180A, a gyro sensor 180B, an air pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity light sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, and ambient light. Sensor 180L, bone conduction sensor 180M, etc.
  • the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on the electronic device 100 .
  • the electronic device 100 may include more or fewer components than shown in the figures, or some components may be combined, some components may be separated, or some components may be arranged differently.
  • the components illustrated may be presented as hardware, software, or a combination of software and hardware. realized together.
  • the processor 110 may include one or more processing units.
  • the processor 110 may include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (image signal).
  • AP application processor
  • GPU graphics processing unit
  • image signal image signal
  • processor ISP
  • controller video codec
  • DSP digital signal processor
  • BP baseband processor
  • NPU neural network processing unit
  • different processing units can be independent devices or integrated in one or more processors.
  • the electronic device 100 can determine the data sequence of the GNSS signal power (carrier-to-noise ratio) corresponding to each GNSS signal received by the electronic device 100 through the processor 110, and calculate the GNSS signal power ( The correlation coefficient between the carrier-to-noise ratio) determines whether the GNSS signal is a real signal or a spoofed signal.
  • the processor 110 may also be provided with a memory for storing instructions and data.
  • the memory in processor 110 is cache memory. This memory may hold instructions or data that have been recently used or recycled by processor 110 . If the processor 110 needs to use the instructions or data again, it can be called directly from the memory. Repeated access is avoided and the waiting time of the processor 110 is reduced, thus improving the efficiency of the system.
  • the charging management module 140 is used to receive charging input from the charger.
  • the charger can be a wireless charger or a wired charger.
  • the charging management module 140 may receive charging input from the wired charger through the USB interface 130 .
  • the power management module 141 is used to connect the battery 142, the charging management module 140 and the processor 110.
  • the power management module 141 receives input from the battery 142 and/or the charging management module 140, and supplies power to the processor 110, the internal memory 121, the display screen 194, the camera 193, the wireless communication module 160, and the like.
  • the power management module 141 can also be used to monitor battery capacity, battery cycle times, battery health status (leakage, impedance) and other parameters.
  • the wireless communication function of the electronic device 100 can be implemented through the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, the modem processor and the baseband processor.
  • Antenna 1 and Antenna 2 are used to transmit and receive electromagnetic wave signals.
  • Each antenna in electronic device 100 may be used to cover a single or multiple communication frequency bands. Different antennas can also be reused to improve antenna utilization. For example: Antenna 1 can be reused as a diversity antenna for a wireless LAN. In other embodiments, antennas may be used in conjunction with tuning switches.
  • the mobile communication module 150 can provide solutions for wireless communication including 2G/3G/4G/5G applied on the electronic device 100 .
  • the wireless communication module 160 can provide applications on the electronic device 100 including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) network), Bluetooth (bluetooth, BT), and global navigation satellites.
  • WLAN wireless local area networks
  • Wi-Fi wireless fidelity
  • Bluetooth bluetooth, BT
  • global navigation satellites Global navigation satellite system, 6NSS
  • frequency modulation frequency modulation, FM
  • near field communication technology near field communication, NFC
  • infrared technology infrared, IR
  • the electronic device 100 implements display functions through a GPU, a display screen 194, an application processor, and the like.
  • the GPU is an image processing microprocessor and is connected to the display screen 194 and the application processor. GPUs are used to perform mathematical and geometric calculations for graphics rendering.
  • Processor 110 may include one or more GPUs that execute program instructions to generate or alter display information.
  • the display screen 194 is used to display images, videos, etc.
  • Display 194 includes a display panel.
  • the electronic device 100 may include 1 or N display screens 194, where N is a positive integer greater than 1.
  • the electronic device 100 can implement the shooting function through an ISP, a camera 193, a video codec, a GPU, a display screen 194, an application processor, and the like.
  • Camera 193 is used to capture still images or video.
  • the electronic device 100 may include 1 or N cameras 193, where N is a positive integer greater than 1.
  • the external memory interface 120 can be used to connect an external memory card, such as a MicroSD card, to expand the storage capacity of the electronic device 100 .
  • the external memory card communicates with the processor 110 through the external memory interface 120 to implement the data storage function.
  • Internal memory 121 may be used to store computer executable program code, which includes instructions.
  • the internal memory 121 may include a program storage area and a data storage area.
  • the processor 110 executes various functional applications and data processing of the electronic device 100 by executing instructions stored in the internal memory 121 and/or instructions stored in a memory provided in the processor.
  • the electronic device 100 can implement audio functions through the audio module 170, the speaker 170A, the receiver 170B, the microphone 170C, the headphone interface 170D, and the application processor. Such as music playback, recording, etc.
  • the audio module 170 is used to convert digital audio information into analog audio signal output, and is also used to convert analog audio input into digital audio signals. Audio module 170 may also be used to encode and decode audio signals. In some embodiments, the audio module 170 may be provided in the processor 110 , or some functional modules of the audio module 170 may be provided in the processor 110 .
  • Speaker 170A also called “speaker” is used to convert audio electrical signals into sound signals.
  • the electronic device 100 can listen to music through the speaker 170A, or listen to hands-free calls.
  • Receiver 170B also called “earpiece” is used to convert audio electrical signals into sound signals.
  • the electronic device 100 answers a call or a voice message, the voice can be heard by bringing the receiver 170B close to the human ear.
  • Microphone 170C also called “microphone” or “microphone” is used to convert sound signals into electrical signals. When making a call or sending a voice message, the user can speak close to the microphone 170C with the human mouth and input the sound signal to the microphone 170C.
  • the electronic device 100 may be provided with at least one microphone 170C. In other embodiments, the electronic device 100 may be provided with two microphones 170C, which in addition to collecting sound signals, may also implement a noise reduction function. In other embodiments, the electronic device 100 can also be provided with three, four or more microphones 170C to collect sound signals, reduce noise, identify sound sources, and implement directional recording functions, etc.
  • the headphone interface 170D is used to connect wired headphones.
  • the headphone interface 170D may be a USB interface 130, or may be a 3.5mm open mobile terminal platform (OMTP) standard interface, or a Cellular Telecommunications Industry Association of the USA (CTIA) standard interface.
  • OMTP open mobile terminal platform
  • CTIA Cellular Telecommunications Industry Association of the USA
  • the pressure sensor 180A is used to sense pressure signals and can convert the pressure signals into electrical signals.
  • pressure sensor 180A may be disposed on display screen 194 .
  • the gyro sensor 180B may be used to determine the motion posture of the electronic device 100 .
  • Air pressure sensor 180C is used to measure air pressure. In some embodiments, the electronic device 100 calculates the altitude through the air pressure value measured by the air pressure sensor 180C to assist positioning and navigation.
  • Magnetic sensor 180D includes a Hall sensor.
  • the acceleration sensor 180E can detect the acceleration of the electronic device 100 in various directions (generally three axes).
  • Distance sensor 180F for measuring distance.
  • Proximity light sensor 180G may include, for example, a light emitting diode (LED) and a light detector,
  • the ambient light sensor 180L is used to sense ambient light brightness.
  • Fingerprint sensor 180H is used to collect fingerprints.
  • Temperature sensor 180J is used to detect temperature.
  • Touch sensor 180K also known as “touch device”.
  • the touch sensor 180K can be disposed on the display screen 194.
  • the touch sensor 180K and the display screen 194 form a touch screen, which is also called a "touch screen”.
  • Bone conduction sensor 180M can acquire vibration signals.
  • the buttons 190 include a power button, a volume button, etc.
  • Key 190 may be a mechanical key. It can also be a touch button.
  • the electronic device 100 may receive key inputs and generate key signal inputs related to user settings and function control of the electronic device 100 .
  • the motor 191 can generate vibration prompts.
  • the motor 191 can be used for vibration prompts for incoming calls and can also be used for touch vibration feedback.
  • the indicator 192 may be an indicator light, which may be used to indicate charging status, power changes, or may be used to indicate messages, missed calls, notifications, etc.
  • the SIM card interface 195 is used to connect a SIM card.
  • the SIM card can be connected to or separated from the electronic device 100 by inserting it into the SIM card interface 195 or pulling it out from the SIM card interface 195 .
  • the positioning method in FIG. 4 of this application can be implemented by the processor 110 of the mobile phone 100 executing relevant programs.
  • a positioning method provided according to a specific embodiment of the present application includes the following steps.
  • S401 Call the positioning service or enable positioning service security detection to start GNSS spoofing detection.
  • the positioning service here can be a navigation application installed on the mobile phone 100.
  • the user can click the icon of the navigation application to start the navigation application.
  • the navigation application performs positioning by calling the positioning service of the mobile phone 100, for example: the GPS module of the mobile phone 100.
  • the mobile phone 100 can start GNSS spoofing detection.
  • the user can also enable the location service security detection function of the mobile phone 100.
  • the location service security detection here can be a system service set in the operating system of the mobile phone 100. When the mobile phone 100 detects that the location service security detection is enabled, At this time, the mobile phone 100 can start GNSS spoofing detection.
  • S402 Identify the navigation satellite number corresponding to the GNSS signal currently used in the process of using the positioning service.
  • the navigation satellite number here may be a pseudo-random noise code, that is, a navigation satellite PRN code.
  • the mobile phone 100 can obtain the navigation satellite number corresponding to the GNSS signal, which is the navigation satellite PRN code carried by the GNSS signal. It is understandable that the navigation satellite PRN codes here are public.
  • the spoofing device can generate and send a spoofing signal similar to the real GNSS signal based on the desired PVT spoofing result and the corresponding ephemeris data.
  • the mobile phone 100 needs to obtain the GNSS signals of at least four different navigation satellites from the satellite navigation system 200. That is to say, the mobile phone 100 will also recognize at least four different navigation satellites at the same time. Different navigation satellite numbers.
  • S403 Track and collect the data sequence of the signal power of the GNSS signal corresponding to the navigation satellite number.
  • the mobile phone 100 when the navigation application of the mobile phone 100 calls the positioning service (one of the PVT services), the mobile phone 100 needs to obtain at least four different GNSS signals from the satellite navigation system 200, that is, four sets of For different GNSS signal data sequences, the mobile phone 100 can track the GNSS signals of at least four different navigation satellites according to the navigation satellite numbers corresponding to the GNSS signals, and obtain at least four GNSS signals from at least four different navigation satellites within a preset time period. Data sequence of signal power of GNSS signals.
  • the at least four different GNSS signals may be from at least four different navigation satellites; if the GNSS signal is a spoofing signal, the at least four different GNSS signals may be from the same or Spoofing signals from multiple spoofed devices.
  • the preset time period here can be set to, for example, 10 seconds. It can be understood that the preset time period can also be of other lengths, and there is no limitation here.
  • S405 While collecting GNSS signals, simultaneously collect the inertial navigation data of the mobile phone 100.
  • the inertial navigation data here may be data obtained through an inertial measurement unit (IMU) of the mobile phone 100.
  • the inertial navigation data may include the speed, acceleration, direction, etc. of the mobile phone 100.
  • the inertial measurement unit of the mobile phone 100 may include the gyro sensor 180B and the acceleration sensor 180E of the mobile phone 100. While the mobile phone 100 collects GNSS signals, the mobile phone 100 may collect the speed, acceleration and direction of the mobile phone 100 through the gyro sensor 180B and the acceleration sensor 180E. wait.
  • S406 Perform low-pass filtering on the data sequences of signal powers of multiple GNSS signals to remove high-frequency noise.
  • the mobile phone 100 can perform low-pass filtering on the data sequence of the signal power of the GNSS signals of multiple navigation satellites to remove noise with high signal power in the frequency band.
  • S407 Perform correlation measurement on the filtered data sequences of the signal powers of multiple GNSS signals, obtain the correlation coefficients between the signal powers of the GNSS signals of multiple navigation satellites, and obtain the correlation coefficients of multiple correlation coefficients mean.
  • the correlation measurement method for the data sequence of the signal power of the GNSS signal may be to calculate the correlation coefficient of the data sequence of the signal power of the GNSS signal.
  • the correlation coefficient may include: Pearson correlation coefficient, Pillman correlation coefficient and Kendall correlation coefficient, etc.
  • the Pearson correlation coefficient is used to measure the linear correlation between two variables.
  • the Pearson correlation coefficient has a value between +1 and -1, where 1 represents a total positive linear correlation, 0 represents a nonlinear correlation, and -1 represents a total negative linear correlation.
  • the calculation formula corresponding to the Pearson correlation coefficient ⁇ is as follows:
  • X and Y respectively represent any two signal powers in the data sequence of the signal power of multiple GNSS signals, ⁇ covariance between.
  • the mobile phone 100 obtains the data sequence of the signal power of at least four GNSS signals, and then the mobile phone 100 can obtain the correlation between the signal powers of at least four GNSS signals. coefficient.
  • the average correlation coefficient between pairs of at least four GNSS signals can be calculated, for example, taking signal i and signal j among at least four GNSS signals as an example. , calculate the average correlation coefficient of signal i and signal j through the following formula.
  • N the number of collected GNSS signals.
  • the above formula can be saved in the internal memory of the mobile phone 100. While the positioning service of the mobile phone 100 collects the GNSS signal, the mobile phone 100 can calculate the GNSS signal in real time according to the saved formula to determine whether the GNSS signal is a real signal or not. Spoofing signals.
  • the Spearman correlation coefficient is used to utilize the rank size of the signal power of the two GNSS signals.
  • the calculation formula corresponding to the Spearman correlation coefficient ⁇ is as follows:
  • x′ and y′ represent the ranks of the collected GNSS signals.
  • S408 Based on the synchronously collected inertial navigation data, identify the motion state of the mobile phone 100 during the signal power collection of the GNSS signal.
  • the process of determining the motion state of the mobile phone 100 may include: the mobile phone 100 may obtain the navigation coordinate system based on the mobile phone 100 through the gyroscope sensor, stabilize the measurement axis of the acceleration sensor in the navigation coordinate system, and give The direction and attitude angle of the mobile phone 100 are obtained, and then the acceleration of the mobile phone 100 is measured through the acceleration sensor.
  • the speed of the mobile phone 100 can be obtained based on the integral operation during the acquisition period.
  • the mobile phone 100 can compare the obtained speed with the speed threshold to determine the motion state of the mobile phone 100 .
  • the speed of the mobile phone 100 can be 2 meters/second. If the speed threshold is 1 meter/second, the mobile phone 100 can determine that the mobile phone 100 is in a moving state; otherwise, it can be determined that the mobile phone 100 is in a stationary state.
  • S409 Determine a preset threshold corresponding to the motion state according to the motion state of the mobile phone 100.
  • the preset threshold corresponding to the motion state of the mobile phone 100 can be set in combination with the motion state of the mobile phone 100 identified in step S408.
  • the preset threshold corresponding to the stationary state can be 0.5
  • the preset threshold corresponding to the moving state can be 0.8.
  • S410 Compare the average correlation coefficient with the preset threshold corresponding to the motion state of the mobile phone 100 to determine whether the GNSS signal is a real signal or a spoofing signal.
  • the correlation coefficient is lower than the preset threshold, it means that the correlation between the GNSS signals collected by the mobile phone 100 is low, and the collected GNSS signals are determined to be real signals. If the correlation coefficient is higher than the preset threshold, it means that the correlation between the GNSS signals collected by the mobile phone 100 is low. If the correlation between GNSS signals is high, it is determined that the collected GNSS signal is a spoofing signal.
  • the mobile phone 100 can allow the application program to call the positioning service to complete the function corresponding to the application program; if the mobile phone 100 determines that the collected GNSS signal is a fraudulent signal, If the signal is spoofed, step S411 is executed.
  • the mobile phone 100 can feed back the detection result of the spoofed signal to the application, prompt the user who opens the application, or disable the GNSS positioning service and instead call other positioning services, such as network positioning.
  • the mobile phone 100 is in a stationary state. If the average correlation coefficient of the GNSS signal obtained by the mobile phone 100 through step S407 is 0.0099, and the preset threshold corresponding to the stationary state can be 0.5, then the mobile phone 100 can determine that the collected GNSS signal is a real signal. If the average value of the correlation coefficient of the GNSS signals obtained by the mobile phone 100 in step S407 is 0.6534, the mobile phone 100 can determine that the collected GNSS signals are spoofing signals. Similarly, the mobile phone 100 is in a moving state.
  • the mobile phone 100 can determine that the collected GNSS signal is a real signal. , if the average correlation coefficient of the GNSS signal obtained by the mobile phone 100 through step S407 is 0.9015, the mobile phone 100 can determine that the collected GNSS signal is a spoofing signal.
  • the mobile phone 100 can disable the GNSS positioning service (turn off the positioning service, that is, turn off the currently used positioning service), and instead call other positioning services. , such as network positioning, and prompts the user in the user interface of the mobile phone 100 to re-verify the security of the GNSS positioning service.
  • the mobile phone 100 can also prompt on the screen that the satellite signal accepted by the positioning service is incorrect or prompt to restart the positioning service so that the positioning service can obtain the real signal.
  • the mobile phone 100 can use the positioning service (such as navigation service) normally and obtain the positioning result of the positioning service.
  • the positioning service such as navigation service
  • the positioning result can be navigation Navigation routes provided by the service.
  • the positioning result may also be the map location provided by the positioning service.
  • the mobile phone 100 when the mobile phone 100 needs to call the positioning service or when the mobile phone 100 detects that the application of the mobile phone 100 calls the positioning service, the mobile phone 100 can automatically start spoofing signal detection, ensuring that the mobile phone 100 100 can receive real GNSS signals, ensuring the safety of mobile phone 100 using positioning services.
  • the positioning method of the mobile phone 100 according to another embodiment of the present application will be described in detail below with reference to FIGS. 5 and 6 .
  • the positioning method in Figure 5 of this application can be implemented by the processor 110 of the mobile phone 100 executing relevant programs.
  • the difference from the positioning method shown in FIG. 4 is that in the positioning method shown in FIG. 5 , the similarity measurement neural network that has been trained in advance can be stored in the storage area of the mobile phone 100 .
  • the data sequence of the signal power of multiple GNSS signals corresponding to the navigation satellite numbers (i.e., sat 1 to sat N in Figure 5) and the motion status of the mobile phone 100 are collected.
  • the output result can be a similarity matrix obtained from the data sequence of the signal power of GNSS signals of multiple navigation satellites; calculate the similarity matrix to obtain the similarity coefficient mean cc mean corresponding to the similarity matrix,
  • a positioning method provided according to a specific embodiment of the present application includes the following steps.
  • S601 Call the positioning service or enable positioning service security detection to start GNSS spoofing detection.
  • step S601 here is similar to step S401 in Figure 4.
  • the GPS module of the mobile phone 100 performs positioning services.
  • the mobile phone 100 detects that the navigation application starts to call the positioning service, the mobile phone 100 can start GNSS spoofing detection.
  • the user can also enable the location service security detection function of the mobile phone 100.
  • the location service security detection here can be a system service set in the operating system of the mobile phone 100.
  • the mobile phone 100 detects that the location service security is enabled, During detection, the mobile phone 100 can start GNSS spoofing detection.
  • S602 Identify the navigation satellite number corresponding to the GNSS signal currently used in the process of using the positioning service.
  • step S602 here is similar to step S402 in Figure 4.
  • the mobile phone 100 can obtain the navigation satellite number corresponding to the GNSS signal, that is, the navigation satellite PRN carried by the GNSS signal. code.
  • the mobile phone 100 needs to obtain the GNSS signals of at least four different navigation satellites from the satellite navigation system 200. That is to say, the mobile phone 100 will also recognize at least four different navigation satellites at the same time. Different navigation satellite numbers, namely navigation satellite PRN codes.
  • S603 Track and collect the data sequence of the signal power of the GNSS signal corresponding to the navigation satellite number.
  • step S603 here is similar to step S403 in Figure 4.
  • the mobile phone 100 needs to obtain data sequences of the signal power of at least four different GNSS signals. That is, the data sequence of the signal power of four different GNSS signals.
  • S604 After collecting data after a preset time period, obtain a data sequence of signal powers of multiple GNSS signals.
  • step S604 here is similar to step S404 in FIG. 4 , and the preset time period here can be set to, for example, 10 seconds. It can be understood that the preset time period can also be of other lengths, and there is no limitation here.
  • S605 While collecting GNSS signals, simultaneously collect the inertial navigation data of the mobile phone 100.
  • step S605 here is similar to step S405 in Figure 4. While the mobile phone 100 collects GNSS signals, the mobile phone 100 can collect the speed, acceleration, direction, etc. of the mobile phone 100 through the gyroscope sensor 180B and the acceleration sensor 180E. .
  • S606 Perform low-pass filtering on the data sequences of signal powers of multiple GNSS signals to remove high-frequency noise.
  • step S606 here is similar to step S406 in FIG. 4 .
  • the mobile phone 100 can perform low-pass filtering on the data sequence of the signal power of multiple GNSS signals to remove noise with high signal power in the frequency band.
  • S607 Based on the synchronously collected inertial navigation data, identify the motion state of the mobile phone 100 during the signal power collection of the GNSS signal.
  • step S607 here is similar to step S408 in Figure 4.
  • the mobile phone 100 can obtain the navigation coordinate system based on the mobile phone 100 through the gyroscope sensor, and stabilize the measurement axis of the acceleration sensor in the navigation coordinate system.
  • the direction and attitude angle of the mobile phone 100 are given, and then the acceleration of the mobile phone 100 is measured through the acceleration sensor.
  • the speed of the mobile phone 100 can be obtained based on the integral operation during the acquisition period.
  • S608 Input the filtered data sequence of the signal power of multiple GNSS signals into the similarity measurement neural network corresponding to the motion state of the mobile phone 100, and obtain the mean value of the correlation coefficient output by the similarity measurement neural network.
  • the motion state of the mobile phone 100 can be divided into a static state and a moving state.
  • the mobile phone 100 can also store similarity measurement neural networks corresponding to the stationary state and the moving state respectively. The process of training the similarity measure neural network corresponding to the stationary state and the moving state will be introduced in detail below.
  • S609 Determine a preset threshold corresponding to the motion state according to the motion state of the mobile phone 100.
  • step S609 here is similar to step S409 in FIG. 4 .
  • the preset threshold corresponding to the stationary state may be 0.5
  • the preset threshold corresponding to the moving state may be 0.8.
  • S610 Compare the average correlation coefficient with the preset threshold corresponding to the motion state of the mobile phone 100 to determine whether the GNSS signal is a real signal or a spoofing signal.
  • the correlation coefficient is lower than the preset threshold, it means that the correlation between the GNSS signals collected by the mobile phone 100 is low, and the collected GNSS signals are determined to be real signals. If the correlation coefficient is higher than the preset threshold, it means that the correlation between the GNSS signals collected by the mobile phone 100 is low. If the correlation between GNSS signals is high, it is determined that the collected GNSS signal is a spoofing signal.
  • step S610 here is similar to step S410 in Figure 4. If the mobile phone 100 determines that the collected GNSS signal is a real signal, the mobile phone 100 can allow the application to call the positioning service to complete the function corresponding to the application; if the mobile phone 100 100 determines that the collected GNSS signal is a spoofing signal, and then executes step S611. The mobile phone 100 can feed back the detection result of the spoofing signal to the application, prompt the user who opens the application, or prohibit the application from calling positioning services.
  • S611 Identify the GNSS signal as a spoofing signal and feed it back to the application that calls the positioning service.
  • step S611 here is similar to step S411 in Figure 4. If the mobile phone 100 recognizes that the GNSS signal obtained by the positioning service is a spoofing signal, the mobile phone 100 can disable the GNSS positioning service and instead call other positioning services. Such as network positioning, and prompts the user in the user interface of the mobile phone 100 to re-verify the security of the GNSS positioning service.
  • S701 Obtain a data set of sequence data of signal power of real GNSS signals.
  • sequence data collection of the signal power of the GNSS signal is performed, and a data set corresponding to the stationary state and the moving state is constructed.
  • S702 Perform low-pass filtering on the data set to filter out high-frequency noise in the signal.
  • low-pass filtering can be performed on the data sequence of the signal power of the GNSS signals in the data set to remove noise with high frequency bands in the signal power.
  • S703 Use the spoofing signals collected in the stationary state and the moving state and the real GNSS signal data sets to conduct similarity measurement neural network training.
  • the training method of the similarity measurement neural network may include: collecting spoofing signals collected in the stationary state and moving state and real GNSS signals; during training, the spoofing signals collected in the stationary state and moving state and Real GNSS signals are input into the similarity measurement neural network, and feedback iteration and other methods are used for similarity measurement neural network training.
  • the input of the similarity measurement neural network here can be the spoofing signals collected in the stationary state and the moving state as well as the real GNSS signals.
  • the output of the similarity measurement neural network is the similarity matrix between the input multi-dimensional time series.
  • S704 Deploy the trained similarity measure neural network corresponding to the stationary state and the moving state on the mobile phone 100.
  • the similarity measurement neural network can be packaged into an apk format and installed in the operating system of mobile phone 100.
  • mobile phone 100 runs GNSS spoofing detection, it can be The collected GNSS signals are input to a similarity measure neural network deployed within the mobile phone 100 .
  • the GNSS signal here may be the GNSS signal used in the currently used positioning service process. It can be understood that the solution here can mean analyzing and calculating the GNSS signal used by the currently used positioning service.
  • S802 Track and record the fading data of GNSS signal reception strength over time.
  • the fading data here may be a data sequence that tracks the satellite signal according to the navigation satellite number corresponding to the satellite signal and obtains the signal power of the satellite signal within a preset time period.
  • S803 Determine whether the data collection time is greater than the preset time period.
  • the preset time period here can be set to, for example, 10 seconds. If the data collection time does not reach the preset time period, continue to execute step S802; if the data collection time reaches the preset time period, execute S804. , preprocess the collected satellite signals.
  • Step S804 here is similar to step S406 in FIG. 4 .
  • the mobile phone 100 can perform preprocessing such as low-pass filtering on multiple satellite signals to remove high-frequency noise in the satellite signals.
  • correlation measurement is performed on multiple preprocessed satellite signals, correlation coefficients between the multiple satellite signals are obtained, and the average correlation coefficient of the multiple correlation coefficients is obtained.
  • the method of measuring the correlation of satellite signals may be to calculate the correlation coefficient of the navigation satellite signal.
  • the correlation coefficient may include: Pearson correlation coefficient, Spearman correlation coefficient, Kendall correlation coefficient, etc.
  • S806 Determine whether the correlation coefficient is greater than the preset threshold.
  • the correlation coefficient if the correlation coefficient is lower than the preset threshold, it means that the collected satellite signal is a real signal; if the correlation coefficient is higher than the preset threshold, it is determined that the collected GNSS signal is a spoofing signal.
  • references in the specification to "one embodiment,” “an embodiment,” “an illustrative embodiment,” etc., mean that the described embodiment may include a particular feature, structure, or property, but that each embodiment may or need not include certain features, structures, or properties. characteristics, structure or properties. Furthermore, these phrases are not necessarily referring to the same embodiment. Furthermore, when particular features are described in connection with specific embodiments, the knowledge of those skilled in the art can influence the combination of these features with other embodiments, whether or not these embodiments are explicitly described.
  • phrases “includes,””has,” and “includes” are synonyms unless the context dictates otherwise.
  • Phrase “A/B” means “A or B”.
  • the phrase “A and/or B” means "(A), (B) or (A and B)”.
  • module may refer to, be a part of, or include: memory (shared, dedicated, or group) for running one or more software or firmware programs, an Application Specific Integrated Circuit (ASIC), Electronic circuits and/or processors (shared, dedicated, or group), combinational logic circuits, and/or other suitable components that provide the functionality described.
  • ASIC Application Specific Integrated Circuit

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

Abstract

La présente demande concerne les domaines techniques du traitement du signal et de la prévention d'interférence ; et concerne en particulier un dispositif électronique et un procédé de positionnement associé, et un support. Le procédé de positionnement consiste à : en réponse au démarrage d'un service de positionnement par un dispositif électronique, acquérir une séquence de changement de puissance de signal d'une pluralité de signaux satellites dans une période prédéfinie ; sur la base de la séquence de changement de puissance de signal de la pluralité de signaux satellites, déterminer si une caractéristique d'atténuation entre la pluralité de signaux satellites dans la période prédéfinie satisfait une exigence de positionnement ; faire correspondre des caractéristiques d'atténuation entre la pluralité de signaux satellites dans une pluralité de périodes prédéfinies satisfaisant l'exigence de positionnement, acquérir un résultat de positionnement, qui est généré sur la base de la pluralité de signaux satellites ; et si l'exigence de positionnement n'est pas satisfaite, désactiver un service de positionnement par satellite et appeler un autre service de positionnement, et transmettre une invite d'alarme. Au moyen du procédé de positionnement décrit dans la présente demande, un dispositif électronique peut identifier une attaque de mystification d'un signal satellite selon des caractéristiques d'atténuation considérablement différentes qui sont présentes entre des signaux satellites, qui sont acquis au moyen de différents canaux de propagation correspondant à différents satellites de navigation, ce qui permet de résoudre le problème de sécurité dans la technologie de navigation par satellite.
PCT/CN2023/087670 2022-04-14 2023-04-11 Dispositif électronique et procédé de positionnement associé, et support WO2023198072A1 (fr)

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US20210109227A1 (en) * 2019-10-11 2021-04-15 Raytheon Systems Limited Global navigation satellite system (gnss) anti-spoofing techniques based on similarities of gain vectors
CN113447959A (zh) * 2021-06-25 2021-09-28 中山大学 一种基于多普勒频率的gnss欺骗干扰检测方法和相关装置
US20220050213A1 (en) * 2018-09-21 2022-02-17 Septentrio N.V. System and Method for Detecting Spoofing of GNSS Signals

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US10545246B1 (en) * 2016-07-08 2020-01-28 Interstate Electronics Corporation Global navigation satellite system spoofer identification technique based on carrier to noise ratio signatures
US20220050213A1 (en) * 2018-09-21 2022-02-17 Septentrio N.V. System and Method for Detecting Spoofing of GNSS Signals
US20210109227A1 (en) * 2019-10-11 2021-04-15 Raytheon Systems Limited Global navigation satellite system (gnss) anti-spoofing techniques based on similarities of gain vectors
CN113447959A (zh) * 2021-06-25 2021-09-28 中山大学 一种基于多普勒频率的gnss欺骗干扰检测方法和相关装置

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