Deception Signal Detection Method, Device, Equipment and Storage Medium

Abstract

The present invention provides a method, apparatus, device and storage medium for detecting spoofing signals. The method includes: obtaining satellite signals received by a satellite receiver, and obtaining the azimuth and propagation rate of the satellite signals; when it is determined that the satellite signals have signal anomalies according to the azimuth and propagation rate of the satellite signals, blocking the currently captured satellite signals, and obtaining the satellite signals recaptured by the satellite receiver; when it is determined that the recaptured satellite signals have signal anomalies, performing code phase identification processing on the recaptured satellite signals to determine whether there are spoofing signals in the satellite signals received by the satellite receiver. The present invention can effectively detect satellite spoofing signals during the baseband signal processing of a satellite receiver.

Description

Technical Field

[0001] The present invention relates to the technical field of signal detection, and in particular, to a method, device, equipment and storage medium for detecting spoofing signals. Background Art

[0002] As an important technical approach in the field of navigation, satellite navigation can provide all-weather, continuous, and high-precision three-dimensional position information to global users in real time. With the gradual development of various satellite navigation interference and spoofing technologies, interference and spoofing signals pose severe challenges to the accuracy, continuity, and integrity of satellite navigation systems. In particular, spoofing interference seriously threatens the effective application of the positioning performance of satellite navigation systems.

[0003] Most of the current satellite spoofing signal detection methods identify signals in the radio frequency signal processing stage using multi-antenna methods, which require high hardware design requirements and are difficult to implement. In the baseband signal processing of satellite receivers, the prior art cannot effectively detect satellite spoofing signals. Summary of the Invention

[0004] The present invention aims to provide a method, device, equipment and storage medium for detecting spoofing signals to solve the above technical problems, so as to be able to effectively detect satellite spoofing signals in the baseband signal processing of satellite receivers.

[0005] To solve the above technical problems, an embodiment of the present invention provides a method for detecting spoofing signals, including:

[0006] Obtain the satellite signals received by the satellite receiver, and obtain the azimuth and propagation rate of the satellite signals;

[0007] When it is determined that the satellite signals are abnormally signaled according to the azimuth and propagation rate of the satellite signals, block the currently captured satellite signals, and obtain the satellite signals recaptured by the satellite receiver;

[0008] When it is determined that the recaptured satellite signals are abnormally signaled, perform code phase identification processing on the recaptured satellite signals to determine whether there are spoofing signals in the satellite signals received by the satellite receiver.

[0009] Further, the performing code phase identification processing on the recaptured satellite signals to determine whether there are spoofing signals in the satellite signals received by the satellite receiver includes:

[0010] Perform tracking processing on the satellite signals recaptured by each channel respectively, and obtain the pseudorange observation values required for the satellite receiver to perform positioning according to a preset period;

[0011] Dead reckoning is performed based on the positioning and speed determination results of the last cycle obtained by the satellite receiver before being interfered by a satellite signal jammer;

[0012] Code phase identification processing is performed based on the pseudorange observation value and the position result of the dead reckoning to determine whether there is a spoofing signal in the satellite signal received by the satellite receiver.

[0013] Further, when it is determined that the re-captured satellite signal has a signal anomaly, code phase identification processing is performed on the re-captured satellite signal to determine whether there is a spoofing signal in the satellite signal received by the satellite receiver, including:

[0014] When it is determined that the re-captured satellite signal has a signal anomaly, it is judged whether the satellite number of the re-captured satellite signal is the same as the satellite number of the satellite that was normally tracked before the re-captured signal;

[0015] If so, the code phase peak value of the satellite signal received by the satellite receiver is calculated, and code phase identification processing is performed on the re-captured satellite signal according to the code phase peak value to determine whether there is a spoofing signal in the satellite signal received by the satellite receiver.

[0016] Further, the calculating the code phase peak value of the satellite signal received by the satellite receiver, and performing code phase identification processing on the re-captured satellite signal according to the code phase peak value to determine whether there is a spoofing signal in the satellite signal received by the satellite receiver, includes:

[0017] The re-captured satellite signal is shifted and stored in a shift register, the satellite signal in the shift register is compared one by one with the local code phase, and the correlation value data calculated by each correlation calculation instrument is obtained;

[0018] The code phase peak value of the re-captured satellite signal is calculated according to the correlation value data. If it is judged that the code phase peak value of the re-captured satellite signal is higher than the normal code phase peak value, it is determined that there is a spoofing signal in the satellite signal received by the satellite receiver.

[0019] Further, the spoofing signal detection method further includes:

[0020] When it is determined that there is a spoofing signal in the satellite signal received by the satellite receiver, it is judged whether the satellite number corresponding to the spoofing signal is the same as the satellite numbers tracked by all channels before the re-captured signal;

[0021] If so, it is determined that the spoofing signal is a satellite spoofing signal disguised as a real received signal;

[0022] If not, it is determined that the spoofing signal is an imaginary satellite spoofing signal that did not originally exist.

[0023] Further, the spoofing signal detection method further includes:

[0024] If it is determined that there are spoofing signals exceeding a preset ratio in the satellite signals received by the satellite receiver, a cold start process is performed on the satellite receiver.

[0025] The present invention also provides a spoofing signal detection device, including:

[0026] A signal acquisition module, configured to acquire the satellite signals received by the satellite receiver, and acquire the azimuth and propagation rate of the satellite signals;

[0027] An anomaly processing module, configured to block the currently captured satellite signals when it is determined that the satellite signals have signal anomalies according to the azimuth and propagation rate of the satellite signals, and acquire the satellite signals recaptured by the satellite receiver;

[0028] A spoofing detection module, configured to perform code phase identification processing on the recaptured satellite signals when it is determined that the recaptured satellite signals have signal anomalies, so as to determine whether there are spoofing signals in the satellite signals received by the satellite receiver.

[0029] An embodiment of the present invention also provides an electronic device, including a processor and a memory storing a computer program, and when the processor executes the computer program, any one of the spoofing signal detection methods is implemented.

[0030] An embodiment of the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, any one of the spoofing signal detection methods is implemented.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] An embodiment of the present invention provides a spoofing signal detection method, device, equipment and storage medium. The method includes: acquiring the satellite signals received by the satellite receiver, and acquiring the azimuth and propagation rate of the satellite signals; when it is determined that the satellite signals have signal anomalies according to the azimuth and propagation rate of the satellite signals, blocking the currently captured satellite signals, and acquiring the satellite signals recaptured by the satellite receiver; when it is determined that the recaptured satellite signals have signal anomalies, performing code phase identification processing on the recaptured satellite signals to determine whether there are spoofing signals in the satellite signals received by the satellite receiver. The present invention can effectively detect satellite spoofing signals in the baseband signal processing process of the satellite receiver. Description of the Drawings

[0033] Figure 1It is one of the schematic flowcharts of the deception signal detection method provided by an embodiment of the present invention;

[0034] Figure 2 It is the second of the schematic flowcharts of the deception signal detection method provided by an embodiment of the present invention;

[0035] Figure 3 It is the schematic diagram of the signal reception process provided by an embodiment of the present invention;

[0036] Figure 4 It is the schematic diagram of the code phase analysis process provided by an embodiment of the present invention;

[0037] Figure 5 It is the schematic diagram of the peak judgment of the code phase provided by an embodiment of the present invention;

[0038] Figure 6 It is the schematic structural diagram of the deception signal detection device provided by an embodiment of the present invention. Specific embodiments

[0039] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0040] Please refer to Figure 1 , an embodiment of the present invention provides a deception signal detection method, which may include the steps:

[0041] S1. Obtain the satellite signals received by the satellite receiver, and obtain the azimuth and propagation rate of the satellite signals;

[0042] S2. When it is determined that the satellite signals are abnormally signaled according to the azimuth and propagation rate of the satellite signals, block the currently captured satellite signals, and obtain the satellite signals recaptured by the satellite receiver;

[0043] S3. When it is determined that the recaptured satellite signals are abnormally signaled, perform code phase identification processing on the recaptured satellite signals to determine whether there are deception signals in the satellite signals received by the satellite receiver.

[0044] It should be noted that after it is detected that the despread and demodulated signals of the receiver contain deception signals, alarm and isolation of the deception signals are performed, and cold start processing is performed on the satellite receiver, so as to enhance the anti-deception interference ability of the satellite receiver.

[0045] In an embodiment of the present invention, further, the code phase identification process for the re-captured satellite signal to determine whether there is a spoofing signal in the satellite signal received by the satellite receiver includes:

[0046] Perform tracking processing on the satellite signals re-captured by each channel, and obtain the pseudorange observations required for the satellite receiver to perform positioning according to a preset period;

[0047] Perform dead reckoning based on the positioning and speed determination results of the last period obtained by the satellite receiver before being interfered by a satellite signal jammer;

[0048] Perform code phase identification processing based on the pseudorange observations and the position results of the dead reckoning to determine whether there is a spoofing signal in the satellite signal received by the satellite receiver.

[0049] In an embodiment of the present invention, first, analyze and process the satellite received signal to obtain the signal azimuth and propagation rate, analyze the signal source. If the signal is found to be abnormal, block the signal, re-receive this signal, and perform further processing on the signal. When the signal is found to be normal after multiple signal receptions, normal positioning can be performed. When the signal is found to be abnormal after multiple signal receptions, directly perform code phase identification processing. Among them, each channel performs tracking processing on the signal after re-capturing the signal. The tracking loop obtains the pseudorange observations required for the satellite receiver to perform positioning according to a certain output period. The satellite receiver performs dead reckoning using the positioning and speed determination results of the last period obtained before being interfered by a satellite signal jammer, and discriminates whether the tracked signal contains a spoofing signal by performing code phase identification processing using the position results obtained by dead reckoning.

[0050] In an embodiment of the present invention, further, when it is determined that the re-captured satellite signal has a signal abnormality, the code phase identification process for the re-captured satellite signal to determine whether there is a spoofing signal in the satellite signal received by the satellite receiver includes:

[0051] When it is determined that the re-captured satellite signal has a signal abnormality, determine whether the satellite number of the re-captured satellite signal is the same as the satellite number of the satellite that was normally tracked before the signal was re-captured;

[0052] If so, calculate the code phase peak value of the satellite signal received by the satellite receiver, and perform code phase identification processing on the re-captured satellite signal according to the code phase peak value to determine whether there is a spoofing signal in the satellite signal received by the satellite receiver.

[0053] It should be noted that when the satellite receiver re-captures and tracks signals, when the satellite receiver is interfered and deceived by a signal jammer, it is first necessary to determine whether the satellite number tracked after re-capturing the signal in each channel is the same as the satellite number normally tracked before re-capturing the signal; if they are the same, then first perform relevant peak detection, and then perform spoofing signal detection on the signal received by the satellite receiver based on the method of code phase identification. After the satellite receiver has experienced the spoofing interference of the satellite signal jammer, the satellite receiver experiences signal loss of lock.

[0054] In an embodiment of the present invention, further, calculating the code phase peak of the satellite signal received by the satellite receiver, and performing code phase identification processing on the re-captured satellite signal according to the code phase peak to determine whether there is a spoofing signal in the satellite signal received by the satellite receiver, includes:

[0055] Shifting the re-captured satellite signal into a shift register, comparing the satellite signal in the shift register with the local code phase one by one, and obtaining the correlation value data calculated by each correlation calculation instrument;

[0056] Calculating the code phase peak of the re-captured satellite signal according to the correlation value data. If it is determined that the code phase peak of the re-captured satellite signal is higher than the normal code phase peak, it is determined that there is a spoofing signal in the satellite signal received by the satellite receiver.

[0057] It should be noted that the signal is shifted into the shift register, the signal in the register is compared with the local code phase one by one, and then through the calculation of the correlation calculation instrument, the correlation value of each correlator is calculated, the correlation value of each period is calculated, the estimated code phase is deduced from the result, and then analyzed through the code phase peak. When the code phase peak is higher than the normal peak, it is determined that there is a spoofing signal; when it is not higher than the normal peak, there is no spoofing signal.

[0058] Among them, the peak value of the normal signal can be viewed by looking up a table. When a spoofing signal is detected, the peak value will be higher than this peak value, so the receiver needs to be blocked. It is detected and compared whether the satellite number used for the spoofing signal is the same as the satellite numbers tracked by all channels before re-capturing the signal. If they are the same, then the spoofing signal is a satellite spoofing signal disguised as a real received satellite number; if they are different, then the spoofing signal is a non-existent virtual satellite spoofing signal. At the same time, an alarm and isolation process is performed on this satellite. The specific isolation method is to shield the use of the pseudorange observation of the spoofing satellite signal, and use the pseudorange observations of other real signals for re-positioning. If more than half (preset value) of the satellite signals processed in the tracking channels are spoofing signals, then a cold start is performed on the receiver, that is, all satellites of the entire constellation are searched and captured one by one and spoofing signal detection is performed. If normal positioning still cannot be performed, then the dead reckoning position result is used for temporary positioning; if no spoofing signal is detected, the normal positioning function is completed according to the original positioning solution method of the receiver.

[0059] Further, the baseband signal to be sequentially shifted into the shift register is multiplied by the local code to obtain the multiplication corresponding to the phase in the shift register and the phase in the local code, so as to obtain a peak value, thereby determining whether there is a spoofing signal. Through the correlation peak detection method and the code phase parameter identification method, the spoofing signal transmitted by the satellite signal simulator can be successfully detected, and at the same time, the real signal and the spoofing signal can be distinguished, and the spoofing signal can be isolated.

[0060] In an embodiment of the present invention, further, the spoofing signal detection method further includes:

[0061] When it is determined that there is a spoofing signal in the satellite signal received by the satellite receiver, it is judged whether the satellite number corresponding to the spoofing signal is the same as the satellite numbers tracked by all channels before re-capturing the signal;

[0062] If so, it is determined that the spoofing signal is a satellite spoofing signal disguised as a real received signal;

[0063] If not, it is determined that the spoofing signal is a non-existent virtual satellite spoofing signal.

[0064] It should be noted that it is detected and compared whether the satellite number used for the spoofing signal is the same as the satellite numbers tracked by all channels before re-capturing the signal. If they are the same, then the spoofing signal is a satellite spoofing signal disguised as a real received signal; if they are different, then the spoofing signal is a non-existent virtual satellite spoofing signal.

[0065] In an embodiment of the present invention, further, the spoofing signal detection method further includes:

[0066] If it is determined that there are spoofing signals exceeding a preset ratio in the satellite signals received by the satellite receiver, cold start processing is performed on the satellite receiver.

[0067] Use the pseudorange observables of any other real signal for relocating. If there is a situation where the satellite signals processed in the tracking channels and exceeding a preset ratio are spoofing signals (for example, the ratio of spoofing signals reaches 50%), cold start processing is performed on the receiver, that is, all satellites in the entire constellation are searched and captured one by one and spoofing signal detection is carried out. If normal positioning still cannot be performed, the dead reckoning position result is used for temporary positioning.

[0068] It should be noted that most of the existing satellite spoofing signal detection methods identify at the radio frequency signal processing stage using multi-antenna methods, with high hardware design requirements and great implementation difficulties. There are few methods for detecting spoofing signals using code phase characteristics in the baseband signal processing of satellite receivers. The technical means for spoofing signals to implement spoofing is mainly to simulate satellite signals with carrier frequencies similar to real signals. Due to its positioning spoofing requirements, there are significant differences between its code phase parameters and the code phase values of real satellite signals, in order to induce the satellite receiver to perform wrong positioning. Generally, satellite receivers do not distinguish the despread and tracked code phase values, and directly use them for corresponding positioning calculation processing after measurement, which gives the satellite spoofing interferer the opportunity to achieve its spoofing purpose.

[0069] The spoofing signal detection method of the embodiment of the present invention provides the function of detecting spoofing signals using the autocorrelation peak result of pseudocode despreading in the baseband signal processing; provides the function of identifying spoofing signals using the satellite status obtained from the dead reckoning carrier status and ephemeris parameters; and provides the function of discriminating the types of satellite spoofing signals. Therefore, the present invention can effectively detect satellite spoofing signals in the baseband signal processing of satellite receivers.

[0070] As Figures 2 to 5 shown, based on the above solution, for better understanding of the spoofing signal detection method provided by the embodiment of the present invention, the following is a detailed description:

[0071] The spoofing signal detection method of the embodiment of the present invention mainly includes the following processing procedures:

[0072] Receive signals through an antenna, then further receive the signals through a navigation signal receiving device, and then process them through a signal processing device. When the satellite receiver re-captures and tracks signals, when the satellite receiver is interfered with or deceived by a signal jammer, first determine whether the satellite number tracked after re-capturing the signal in each channel is the same as the satellite number normally tracked before re-capturing the signal; if they are the same, first perform relevant peak detection, and then perform spoofing signal detection based on code phase identification of the satellite receiver. After the satellite receiver experiences the spoofing interference of the satellite signal jammer, the satellite receiver loses signal lock. By looking up a table, the peak value of the normal signal can be viewed. When a spoofing signal is detected, the peak value will be higher than this peak value, so the receiver needs to be blocked, which is convenient for people to use.

[0073] Analyze and process the satellite received signals to obtain the signal azimuth and propagation rate, analyze the signal source. If the signal is found to be abnormal, block the signal, re-receive this signal, and further process the signal. When the signal is found to be normal after receiving the signal multiple times, normal positioning can be performed. When the signal is found to be abnormal after receiving the signal multiple times, directly perform code phase identification processing; compare the signals in the register with the local code phase one by one, and then calculate through a relevant calculation instrument, calculate the correlation value of each correlator, calculate the correlation value of each period, estimate the code phase by the calculation result, and analyze through the code phase peak. When the code phase peak is higher than the normal peak, it is determined that there is a spoofing signal; when it is not higher than the normal peak, there is no spoofing signal.

[0074] It should be noted that for the above method or process embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the embodiments of the present invention are not limited by the described action sequence, because according to the embodiments of the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all optional embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0075] Please refer to Figure 6 , the embodiments of the present invention also provide a spoofing signal detection device, including:

[0076] A signal acquisition module 1, configured to acquire the satellite signals received by the satellite receiver, and acquire the azimuth and propagation rate of the satellite signals;

[0077] An abnormal processing module 2, configured to block the currently captured satellite signals and acquire the satellite signals re-captured by the satellite receiver when it is determined that the satellite signals are abnormally signaled according to the azimuth and propagation rate of the satellite signals;

[0078] The deception detection module 3 is used to perform code phase identification processing on the re-captured satellite signal when it is determined that the re-captured satellite signal has a signal anomaly, so as to determine whether there is a spoofing signal in the satellite signal received by the satellite receiver.

[0079] Further, the deception detection module 3 is specifically used for:

[0080] Perform tracking processing on the satellite signals re-captured by each channel respectively, and obtain the pseudorange observation values required for the satellite receiver to perform positioning according to a preset period;

[0081] Perform dead reckoning based on the positioning and speed determination results of the last period obtained by the satellite receiver before being interfered by the satellite signal jammer;

[0082] Perform code phase identification processing based on the pseudorange observation values and the position results of the dead reckoning to determine whether there is a spoofing signal in the satellite signal received by the satellite receiver.

[0083] Further, the deception detection module 3 is specifically used for:

[0084] When it is determined that the re-captured satellite signal has a signal anomaly, determine whether the satellite number of the re-captured satellite signal is the same as the satellite number that was normally tracked before the re-captured signal;

[0085] If so, calculate the code phase peak value of the satellite signal received by the satellite receiver, and perform code phase identification processing on the re-captured satellite signal according to the code phase peak value to determine whether there is a spoofing signal in the satellite signal received by the satellite receiver.

[0086] Further, the deception detection module 3 is specifically used for:

[0087] Shift the re-captured satellite signal into a shift register, compare the satellite signal in the shift register with the local code phase one by one, and obtain the correlation value data calculated by each correlation calculation instrument;

[0088] Calculate the code phase peak value of the re-captured satellite signal according to the correlation value data. If it is determined that the code phase peak value of the re-captured satellite signal is higher than the normal code phase peak value, it is determined that there is a spoofing signal in the satellite signal received by the satellite receiver.

[0089] Further, the deception detection module 3 is specifically further used for:

[0090] When it is determined that there is a spoofing signal in the satellite signal received by the satellite receiver, determine whether the satellite number corresponding to the spoofing signal is the same as the satellite numbers tracked by all channels before the re-captured signal;

[0091] If so, determine that the spoofing signal is a satellite spoofing signal disguised as a real received signal;

[0092] If not, determine that the spoofing signal is a non-existent virtual satellite spoofing signal.

[0093] Furthermore, the spoofing detection module 3 is specifically further configured to:

[0094] If it is determined that there are spoofing signals exceeding a preset ratio in the satellite signals received by the satellite receiver, perform a cold start process on the satellite receiver.

[0095] It can be understood that the above device item embodiments correspond to the method item embodiments of the present invention. A spoofing signal detection device provided by the embodiments of the present invention can implement the spoofing signal detection method provided by any one of the method item embodiments of the present invention.

[0096] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements any one of the spoofing signal detection methods.

[0097] It should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the attached drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that they have a communication connection, which can be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art can understand and implement without creative efforts.

[0098] Those skilled in the art can clearly understand that for the convenience and simplicity, the specific working process of the above-described device can refer to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0099] The terminal device can be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The terminal device may include, but is not limited to, a processor and a memory.

[0100] The so-called processor may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The processor is the control center of the terminal device, connecting various parts of the entire terminal device through various interfaces and circuits.

[0101] The memory can be used to store the computer program. By running or executing the computer program stored in the memory and calling the data stored in the memory, the processor realizes various functions of the terminal device. The memory may mainly include a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function, etc.; the data storage area can store data created according to the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, at least one magnetic disk storage device, flash device, or other volatile solid-state storage devices.

[0102] The storage medium is a computer-readable storage medium, and the computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0103] The above is the preferred embodiment of the present invention. It should be pointed out that for those of ordinary skill in the art of the present technology, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present invention.

Claims

1. A method for detecting spoofing signals, characterized in that Including: Obtain the satellite signals received by the satellite receiver, and obtain the azimuth and propagation rate of the satellite signals; When it is determined that the satellite signals have signal anomalies based on the azimuth and propagation rate of the satellite signals, block the currently captured satellite signals, and obtain the satellite signals recaptured by the satellite receiver; When it is determined that the recaptured satellite signals have signal anomalies, determine whether the satellite numbers of the recaptured satellite signals are the same as the satellite numbers of the satellites that were normally tracked before the recaptured signals; If so, calculate the code phase peak of the satellite signals received by the satellite receiver, and perform code phase identification processing on the recaptured satellite signals according to the code phase peak to determine whether there are spoofing signals in the satellite signals received by the satellite receiver; The calculating the code phase peak of the satellite signals received by the satellite receiver, and performing code phase identification processing on the recaptured satellite signals according to the code phase peak to determine whether there are spoofing signals in the satellite signals received by the satellite receiver includes: Shift the recaptured satellite signals into a shift register, compare the satellite signals in the shift register with the local code phase one by one, and obtain the correlation value data calculated by each correlation calculation instrument; Calculate the code phase peak of the recaptured satellite signals according to the correlation value data. If it is determined that the code phase peak of the recaptured satellite signals is higher than the normal code phase peak, it is determined that there are spoofing signals in the satellite signals received by the satellite receiver.

2. The deception signal detection method according to claim 1, wherein The performing code phase identification processing on the recaptured satellite signals to determine whether there are spoofing signals in the satellite signals received by the satellite receiver includes: Perform tracking processing on the satellite signals recaptured by each channel respectively, and obtain the pseudorange observation values required for the satellite receiver to perform positioning according to a preset period; Perform dead reckoning based on the positioning and speed determination results of the last period obtained by the satellite receiver before being interfered by the satellite signal jammer; Perform code phase identification processing based on the pseudorange observation values and the position results of the dead reckoning to determine whether there are spoofing signals in the satellite signals received by the satellite receiver.

3. The spoofing signal detection method according to claim 2, wherein Also including: When it is determined that there are spoofing signals in the satellite signals received by the satellite receiver, determine whether the satellite numbers corresponding to the spoofing signals are the same as the satellite numbers tracked by all channels before the recaptured signals; If so, determine that the spoofing signal is a satellite spoofing signal that disguises itself as a real received signal; If not, determine that the spoofing signal is a non-existent imaginary satellite spoofing signal.

4. The spoofing signal detection method according to any one of claims 1-3, characterized in that Also including: If it is determined that there are spoofing signals exceeding a preset ratio in the satellite signals received by the satellite receiver, perform a cold start process on the satellite receiver.

5. A deception signal detection device, characterized in that Including: A signal acquisition module, configured to obtain the satellite signals received by the satellite receiver, and obtain the azimuth and propagation rate of the satellite signals; An anomaly processing module, configured to block the currently captured satellite signals and obtain the satellite signals recaptured by the satellite receiver when it is determined that the satellite signals have signal anomalies based on the azimuth and propagation rate of the satellite signals; A deception detection module, configured to determine whether the satellite number of the re-captured satellite signal is the same as the satellite number of the satellite that was being normally tracked before the re-capture of the signal when it is determined that the re-captured satellite signal has a signal anomaly; If so, calculate the code phase peak of the satellite signal received by the satellite receiver, and perform code phase identification processing on the re-captured satellite signal according to the code phase peak to determine whether there is a spoofing signal in the satellite signal received by the satellite receiver; The calculating the code phase peak of the satellite signal received by the satellite receiver, and performing code phase identification processing on the re-captured satellite signal according to the code phase peak to determine whether there is a spoofing signal in the satellite signal received by the satellite receiver, includes: Shifting the re-captured satellite signal into a shift register, comparing the satellite signal in the shift register with the local code phase one by one, and obtaining the correlation value data calculated by each correlation computing instrument; Calculate the code phase peak of the re-captured satellite signal according to the correlation value data. If it is determined that the code phase peak of the re-captured satellite signal is higher than the normal code phase peak, it is determined that there is a spoofing signal in the satellite signal received by the satellite receiver.

6. The deception signal detection device according to claim 5, wherein The deception detection module is specifically configured to: Perform tracking processing on the re-captured satellite signals of each channel respectively, and obtain the pseudo-range observation values required for the satellite receiver to perform positioning according to a preset period; Perform dead reckoning based on the positioning and speed determination results of the last period obtained by the satellite receiver before being interfered by a satellite signal jammer; Perform code phase identification processing based on the pseudo-range observation values and the position results of the dead reckoning to determine whether there is a spoofing signal in the satellite signal received by the satellite receiver.

7. An electronic device, comprising a processor and a memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the spoofing signal detection method according to any one of claims 1 to 4.

8. A non-transitory computer-readable storage medium storing a computer program thereon, characterized in that, When the computer program is executed by a processor, it implements the spoofing signal detection method according to any one of claims 1 to 4.

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