Steady GNSS anti-spoofing method based on particle filter

A particle filtering and anti-spoofing technology, applied in radio wave measurement systems, satellite radio beacon positioning systems, measurement devices, etc., can solve the problem of pseudo-range information misleading receivers, large deviations in positioning results, inability to resist forwarding spoofing and anti-spoofing. cheating etc.

Active Publication Date: 2014-07-16
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem of misleading the receiver by deceiving satellites to provide wrong pseudo-range information, causing it to produce positioning results with large deviations, unable to resist forwardin

Method used

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  • Steady GNSS anti-spoofing method based on particle filter
  • Steady GNSS anti-spoofing method based on particle filter
  • Steady GNSS anti-spoofing method based on particle filter

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specific Embodiment approach 1

[0046] Specific Embodiment 1: A particle filter-based robust GNSS anti-spoofing method in this embodiment is specifically prepared according to the following steps:

[0047] Step 1. Complete the initialization of the two variables. First, determine the initial state of the user, and evenly distribute m initial state vector particles in the field of the initial state of the user evenly distributed over x 0 In the field; at the same time, set the count value of the number of iterations to k=1; according to the user's initial state vector particle The user state vector particle at k=1 can be obtained

[0048] x 1 ( m ) = x 0 ( m ) + v 1 ( m ) + f ...

specific Embodiment approach 2

[0082] Specific implementation mode two: the difference between this implementation mode and specific implementation mode one is: in step three, according to the calculation of step two Calculate the observed pseudorange between the user and the nth satellite is given by:

[0083] (1) Through the user's state vector particle at the kth moment Calculate the observed pseudorange

[0084]

[0085] Among them, (x n,k ,y n,k ,z n,k )(n=1,2,...,N) represents the position coordinates of the nth satellite at the k moment; (x U,k ,y U,k ,z U,k ,δt U,k ) represents the user’s state vector particle at the kth moment The state of , including the user's state vector particle at the kth moment 3D position (x U,k ,y U,k ,z U,k ) and the clock bias δt relative to the nth satellite U,k ;

[0086] (2) True pseudorange ρ n,k It is directly measured by the pseudorange measurement circuit of the receiver, assuming that the number of visible satellites is N, and the influe...

specific Embodiment approach 3

[0089] Specific implementation mode three: the difference between this implementation mode and specific implementation mode one or two is that in step five, according to the update observation vector Calculate unnormalized particle weights The process is:

[0090] (1) Establish a discrete-time particle filter model as:

[0091] x k ( m ) = x ( m ) k - 1 + v ( m ) ...

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Abstract

The invention relates to a GNSS anti-spoofing method, in particular to a steady GNSS anti-spoofing method based on particle filter. The steady GNSS anti-spoofing method based on particle filter mainly solves the problem that deceptive satellites offset and cannot resist transmitting spoofing, and high cost is caused by the fact that the anti-spoofing method cannot be applied to the existing system. The steady GNSS anti-spoofing method comprises the steps of 1, obtaining state vector particles at 1 moment; 2, updating state vector particles at K moment; 3, obtaining observation pseudorange rho^n,k; 4, updating an observation vector yk<m>; 5, calculating out unnormalized particle weight Wk<m>; 6, calculating out the minimum value theta of the module value of the observation vector yk<m>; 7, modifying the yk<m> according to the formula seen in the specifications; 8, calculating out a positioning result X^k<MMS> at K moment; 9, obtaining the number Meff of the rest of effective vector particles; 10, calculating out W-k<m> according to the formula seen in the specifications; 11, taking Xk+1<m> into the step 2 to achieve the formula seen in the specifications. The steady GNSS anti-spoofing method based on particle filter is applied to the GNSS anti-spoofing field.

Description

technical field [0001] The invention relates to a robust GNSS anti-spoofing method based on particle filtering. Background technique [0002] With the increasing demand for LBS (Location Based Service, location-based service) and the continuous decline in receiver prices, GNSS (Global Navigation Satellite System, Global Navigation Satellite System) has been widely used in military and civilian markets. GNSS can not only provide precise positioning and timing services, but also is widely used in many emerging wireless systems, such as smart grids and CDMA2000 communication systems. However, with the increase in acceptance, the weaknesses of GNSS have also been seriously exposed, especially for spoofing attacks, which have almost no resistance. A spoofing attack is to use a radio device to simulate deceptive navigation signals generated by satellites. Spoofing provides wrong pseudo-range information or satellite position information, thereby misleading the receiver and causi...

Claims

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Application Information

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IPC IPC(8): G01S19/21
CPCG01S19/215
Inventor 孟维晓巩紫君韩帅罗德巳
Owner HARBIN INST OF TECH
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