Trajectory deception method and device for GNSS/IMU loose combination system
A loose combination and trajectory technology, applied in the field of trajectory deception methods and devices, can solve problems such as poor concealment and deception, and achieve the effect of strong concealment
Active Publication Date: 2019-09-06
PLA STRATEGIC SUPPORT FORCE INFORMATION ENG UNIV PLA SSF IEU
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Problems solved by technology
[0006] The invention provides a trajectory decoy method for a GNSS / IMU loose combination system to solve the problems that existing trajectory decoy methods are easily detected and have poor concealment; the invention provides a method for GNSS / IMU loose combination The system's trajectory decoy device is used to solve the problems that the existing trajectory deception methods are easy to be detected and have poor concealment
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[0039] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
[0040] Method example:
[0041] This embodiment provides a kind of trajectory decoy method for GNSS / IMU loose combination system, the control block diagram of the GNSS / IMU loose combination system (hereinafter referred to as loose combination system or GNSS / IMU) that this method is aimed at is as follows figure 1 shown.
[0042] Select the navigation parameter error as the state of the Kalman filter, and the error state vector is:
[0043]
[0044] Among them, δL, δλ, δh represent the position error, δv x , δv y , δv z Indicates the velocity error, Indicates the attitude angle error, ε bx , ε by , ε bz Indicates the acceleration zero bias error, ▽ bx 、▽ by 、▽ bz Indicates the gyroscope drift error.
[0045] The loose combination sys...
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The invention relates to a trajectory deception method and device for a GNSS / IMU loose combination system. The method is a two-step trajectory deception method and comprises the steps that first step,a carrier is deceived to the position of a preset deception point located on a deception trajectory; and second step, the carrier is enabled to move along the deception trajectory, so that the carrier is quickly deceived to the deception trajectory, the deception is not easy to be detected, the concealment is higher, and triggering the alarm of a carrier navigation system is not easy. Moreover, in the process of deception, a local regularization method is used for solving the measurement deviation of a Kalman gain matrix so as to prevent the occurring of the problem that the equation is proneto being ill-conditioned when the measurement deviation is solved and introduced. In practical application, the deception interference technology can be used for effectively controlling an unknown carrier, and a great value is provided to the research of the carrier provided with GNSS / IMU loose combination system to perform hidden GNSS trajectory deception.
Description
technical field [0001] The invention belongs to the technical field of spoofing and jamming, and in particular relates to a trajectory deceiving method and device for a GNSS / IMU loose combination system. Background technique [0002] Satellite navigation spoofing jamming technology has gradually become a hotspot in the research of jamming technology because of its greater threat and high concealment. At present, more and more carriers are equipped with a more robust GNSS / IMU loose combination system, which is used as an important navigation method. [0003] The control block diagram of the GNSS / IMU loose combination system is as follows: figure 1 As shown, the GNSS / IMU loose combination system uses the error equation of GNSS and IMU as the system state equation, uses the difference of navigation information output by GNSS and IMU as the measurement value to establish the measurement equation, and uses the optimal filter to fuse the two The data is collected and the optimal...
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Login to View More IPC IPC(8): G01S19/01G01S19/49
CPCG01S19/015G01S19/49
Inventor 高扬骏吕志伟张伦东
Owner PLA STRATEGIC SUPPORT FORCE INFORMATION ENG UNIV PLA SSF IEU