Satellite navigation interference detection method for unmanned boats

Abstract

The present invention discloses a satellite navigation interference detection method for unmanned boats, which mainly includes: proposing a joint detection method for satellite navigation signal level, data level and system level applicable to unmanned boats. At the signal level, four parameters, namely, received power, signal-to-noise ratio, ephemeris time and Doppler frequency shift, are selected as the basis for detection; in terms of data-level detection, on the one hand, speed and time information are selected as anomaly detection parameters and compared with inertial navigation and time system data; on the other hand, judgment is made by combining the unmanned boat motion model estimation and prior boundary conditions; on this basis, at the system level, the unmanned boat passive autonomous positioning is used to perform the final position calibration, and comprehensive processing is performed based on the full-process detection results. The present invention can be widely used in the detection of satellite navigation interference for unmanned boats, and can be extended to surface ships, with broad application prospects.

Description

Technical Field

[0001] The present invention belongs to the technical field of navigation data processing, and in particular to a satellite navigation interference detection method for unmanned boats. Background Art

[0002] Unmanned boats (UDVs) are a crucial component of unmanned maritime equipment. Due to their high carrying capacity, adaptability to environmental conditions, long endurance, and high degree of autonomy, they are widely used in shipping, military, security, meteorological observation, oceanographic mapping, and other fields. To achieve autonomous operation, a safe and reliable navigation system is fundamental to these UDVs.

[0003] Conventional unmanned boat navigation systems are mainly composed of inertial navigation equipment, satellite navigation equipment, time tracking equipment, etc. Its main working principles are as follows: Figure 1 As shown in the figure, the inertial navigation device has a certain degree of autonomous navigation capability. However, due to its error generation mechanism, the inertial navigation device will inevitably drift during operation, and the current position information needs to be output externally for periodic calibration. Satellite navigation equipment can continuously provide high-precision position information and has a low cost of use. It is widely used on various ship platforms. However, with the development of related technologies in recent years, satellite navigation is very susceptible to suppression and deceptive interference. Deceptive interference can broadcast false navigation timing information, resulting in satellite positioning interruption and equipment decomposition of false information, which seriously threatens the safety of unmanned boats. To ensure the safe and reliable operation of unmanned boats, it is necessary to detect satellite navigation interference and provide a basis for the correct use of navigation information.

[0004] The article "Satellite Navigation Spoofing and Detection (II): Spoofing Detection Based on Receiver Improvement" published on page 1 of Volume 9, Issue 4 of the Journal of Navigation and Positioning, the article "Satellite Navigation Spoofing and Detection (III): Spoofing Detection Based on Auxiliary Information" published on page 13 of Volume 9, Issue 5 of the Journal of Navigation and Positioning, and the article "A Review of GNSS Spoofing Jamming Detection" first published online on February 28, 2022 in the journal Computer Engineering and Applications all summarize and sort out the current satellite navigation jamming detection methods. Combined with the use requirements and actual equipment of unmanned boats, the proposed methods mainly have the following problems:

[0005] 1) Some detection methods cannot be applied to unmanned aerial vehicle platforms in real-time motion;

[0006] 2) Some detection methods require modifications to satellite navigation signal standards and formats, improvements to existing satellite navigation terminal equipment, or the addition of additional equipment, which presents difficulties in engineering implementation, such as high costs and difficulty in implementation.

[0007] 3) Some detection signals require post-processing, which cannot meet the interference detection requirements of real-time navigation of unmanned boats;

[0008] 4) Due to the continuous development of satellite navigation jamming methods and the uncertainty of jamming signals, a single detection method has a certain missed detection rate, and it is not possible to propose a comprehensive detection method and system using multiple means in combination with the characteristics and usage scenarios of unmanned boats;

[0009] 5) Failure to effectively utilize the prior information of the unmanned boat to improve the reliability of interference detection. Summary of the Invention

[0010] The purpose of the present invention is to solve the problem of interference detection of satellite navigation signals under interference conditions during the navigation of unmanned boats. An integrated detection method is proposed that can utilize satellite navigation signals, multi-source navigation data and unmanned boat prior information to realize autonomous detection of unmanned boat interference to satellite navigation and accurate estimation of whether satellite navigation signals are available, providing strong support for achieving unmanned boat navigation safety.

[0011] The technical solution for achieving the objectives of the present invention is a satellite navigation interference detection method for unmanned vehicles, which mainly includes: proposing a joint detection method for satellite navigation at the signal, data, and system levels suitable for unmanned vehicles. At the signal level, four parameters, namely received power, signal-to-noise ratio, ephemeris time, and Doppler frequency shift, are selected as the detection basis. At the data level, speed and time information are selected as anomaly detection parameters and compared with inertial navigation and time system data. At the same time, judgment is made by combining the unmanned vehicle motion model estimation and prior boundary conditions. On this basis, the unmanned vehicle passive autonomous positioning is used for final position calibration, and comprehensive processing is performed based on the full-process detection results.

[0012] Specifically, a satellite navigation interference detection method for an unmanned boat includes the following steps:

[0013] Step 1: Perform satellite navigation signal anomaly detection and output the detection results;

[0014] Step 2: Perform multi-source navigation data coupling anomaly detection and output the detection results;

[0015] Step 3: Perform navigation data consistency check based on prior information and output the test results.

[0016] Step 4: Perform navigation consistency detection based on target information backcalculation, or perform inertial navigation calibration based on previous detection results.

[0017] Furthermore, step 1 performs satellite navigation signal anomaly detection, specifically including:

[0018] Step 1.1: Perform a reception power anomaly test on each satellite navigation signal of the unmanned boat and analyze whether the reception power is within a preset threshold range;

[0019] Step 1.2: At the same time as step 1.1, perform a reception signal-to-noise ratio anomaly test on each satellite navigation signal of the unmanned boat equipment to analyze whether the reception signal-to-noise ratio is within a preset threshold range;

[0020] Step 1.3: At the same time as step 1.1, perform Doppler shift consistency detection on each satellite navigation signal of the unmanned boat, perform abnormal detection on the ratio of the carrier and the pseudo-code Doppler shift, and analyze whether it is within the preset threshold range;

[0021] Step 1.4: After completing the above three steps, perform ephemeris information anomaly detection on each satellite navigation signal equipped by the unmanned vehicle, process the received satellite navigation signal, calculate and generate ephemeris information, compare different ephemeris time information from the same satellite signal source, and analyze whether the difference is within the preset threshold range;

[0022] Step 1.5: Based on the above interference detection, if the detection indicators in any step exceed the corresponding preset threshold range, it is determined that interference has occurred in the satellite navigation signal, and the process goes to step 4. If both are within the preset threshold range, the subsequent steps 2 and 3 are detected simultaneously.

[0023] Furthermore, the satellite navigation signals include GPS, BeiDou, and GLONASS satellite navigation signals.

[0024] Furthermore, step 2 performs multi-source navigation data coupling anomaly detection, specifically including:

[0025] Step 2.1: Detect anomalies in the UAV speed from different measurement sources. Use the horizontal acceleration information output by the inertial navigation system to perform an integral calculation and output the current UAV speed information. This is used as a benchmark for consistency comparison with the speed information output by each satellite navigation system to obtain the difference. Combined with the current PDOP value, analyze whether the difference is within the preset threshold range. If the PDOP value is less than the threshold for more than three consecutive data cycles and the speed error exceeds the threshold range, it is determined that the satellite navigation signal is interfered with.

[0026] Step 2.2: Perform anomaly detection on the current satellite navigation time information from different measurement sources. Using the high-precision internal timing of the time system equipment as a benchmark, compare the time output by each satellite navigation to obtain the difference. Analyze whether the difference is within the preset threshold range. If the difference exceeds the threshold range for more than three consecutive data cycles, it is determined that the satellite navigation signal is interfered with.

[0027] Step 2.3: Based on the above two steps, if any step is abnormal, it is determined that the satellite navigation signal is interfered with and the process goes to step 4.

[0028] Furthermore, step 3 combines prior information to perform data consistency detection, specifically including:

[0029] Step 3.1: Build an unmanned boat motion simulator. Using the current throttle, rudder angle, and meteorological and hydrological parameters as input, it outputs an estimated velocity vector for the unmanned boat. This velocity vector is then compared with the velocity output by each satellite navigation system at the current moment. The difference is then analyzed to determine whether it falls within a preset threshold. If the difference exceeds the threshold for more than three consecutive data cycles, the satellite navigation signal is considered to be interfered with.

[0030] Step 3.2: Obtain the boundary conditions of the UAV's motion based on its heading performance, including the maximum speed, maximum acceleration, minimum turning radius, and maximum altitude parameters during sea navigation. These are then compared with the speed, acceleration, track change rate, and altitude output by each satellite navigation processor at the current moment to obtain the difference. The difference is then analyzed to determine whether it is within a preset threshold range. If these differences exceed the range for more than three consecutive data cycles, it is determined that the satellite navigation signal is being interfered with.

[0031] Step 3.3: Based on the above two steps, if any step is abnormal, it is determined that the satellite navigation signal is interfered with and the process goes to step 4.

[0032] Furthermore, step 4 combines the target information back calculation to perform navigation consistency detection, which specifically includes:

[0033] Step 4.1: Based on the previously acquired electronic nautical chart information, select a fixed marker to perform latitude and longitude calibration on the UAV. The specific process is as follows: Based on the heading and position information output by the inertial navigation system and the position of the fixed marker extracted from the electronic nautical chart, the UAV guides the radar or optoelectronic device configured on the UAV to detect, identify, confirm, and measure the position of the marker, obtain its relative distance and direction information, and calculate the UAV's current position coordinates based on the latitude and longitude coordinates of the marker obtained from the electronic nautical chart. The fixed markers include lighthouses, islands, and navigation marks.

[0034] Step 4.2: Based on the detection results of steps 1.5, 2.3, and 3.3, if any link determines that interference occurs, the position coordinates of the unmanned vehicle calculated in step 4.1 are sent to the inertial navigation system as position calibration data. If there is no valid data in step 4.1 at this time, the inertial navigation system continues to maintain the autonomous navigation working mode and starts the next cycle of interference detection. If no interference occurs in steps 1.5, 2.3, and 3.3, the process proceeds to step 4.3.

[0035] In step 4.3, the position coordinates of the unmanned boat calculated in step 4.1 are compared with the position coordinates output by the satellite navigation to obtain the difference. The difference is analyzed to see whether it is within the preset threshold range. If the data in any period exceeds the threshold range, the satellite navigation signal is judged to be interfered with. At this time, the position coordinates of the unmanned boat calculated in step 4.1 are sent to the inertial navigation as position calibration data. If there is no valid data in step 4.1 at this time, the inertial navigation continues to maintain the autonomous navigation working mode. If the data does not exceed the threshold range for two consecutive data periods, the satellite navigation signal is judged to be not interfered with, and the position data output by the satellite navigation device at this time is sent to the inertial navigation as calibration data, and the interference detection for the next period is started.

[0036] Compared with the prior art, the present invention has the following significant advantages:

[0037] 1) Based on mainstream satellite navigation equipment such as GPS, Beidou, and satellite navigation, there is no need to add or improve additional hardware equipment, and the implementation cost is low.

[0038] 2) This method consumes less computing resources overall and can be implemented based on conventional unmanned boat hardware configuration, which makes it highly versatile.

[0039] 3) A variety of means are used to perform detection at the signal level, data level, and system level, with high reliability.

[0040] 4) The system can autonomously detect conventional suppression and deceptive satellite navigation interference methods without human intervention during the entire process, with a high degree of intelligence.

[0041] The present invention is further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a diagram of the working principle of the unmanned boat navigation system.

[0043] Figure 2 It is the overall block diagram of the satellite navigation anti-interference detection process.

[0044] Figure 3 It is a specific flow chart of satellite navigation anti-interference detection. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0046] It should be noted that if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0047] In one embodiment, combined Figure 2 and Figure 3 , a satellite navigation interference detection method for unmanned boats is proposed, the method comprising the following steps:

[0048] Step 1: Perform satellite navigation signal anomaly detection and output the detection results;

[0049] Step 2: Perform multi-source navigation data coupling anomaly detection and output the detection results;

[0050] Step 3: Perform navigation data consistency check based on prior information and output the test results.

[0051] Step 4: Perform navigation consistency detection based on target information backcalculation, or perform inertial navigation calibration based on previous detection results.

[0052] Furthermore, in one embodiment, step 1 of performing satellite navigation signal anomaly detection specifically includes:

[0053] 1.1. Detect the received power anomalies of GPS, BeiDou, GLONASS and other satellite navigation signals equipped on the unmanned boat, and analyze whether the received power is within the preset threshold range. If it exceeds the tolerance, it is determined that a certain satellite navigation signal is interfered with;

[0054] 1.2. Perform signal-to-noise ratio (SNR) anomaly detection on the GPS, BeiDou, GLONASS, and other satellite navigation signals equipped on the unmanned boat, and analyze whether the SNR is within the preset threshold. If it exceeds the threshold, it is determined that a certain satellite navigation signal is interfered with.

[0055] 1.3. Perform ephemeris information anomaly detection on the GPS, Beidou, GLONASS and other satellite navigation signals equipped on the unmanned boat. Process the received satellite navigation signals, calculate and generate ephemeris information, compare different ephemeris time information from the same satellite signal source, and analyze whether the difference is within the preset threshold range. If it exceeds the difference, it is determined that a certain satellite navigation signal is interfered with.

[0056] 1.4. Perform Doppler frequency shift consistency tests on the GPS, Beidou, GLONASS, and other satellite navigation signals equipped on the unmanned boat. Perform anomaly detection on the ratio of the carrier and pseudo-code Doppler frequency shift to analyze whether it is within the preset threshold range. If it exceeds the tolerance, it is determined that a certain satellite navigation signal is interfered with.

[0057] 1.5. Based on the above interference detection, if the detection indicators in any step are out of tolerance, it is determined that interference has occurred in the satellite navigation signal, and the process proceeds to step 4. If both are within the preset threshold range, the subsequent steps 2 and 3 are performed simultaneously.

[0058] Furthermore, in one embodiment, step 2 performs multi-source navigation data coupling anomaly detection, specifically including:

[0059] 2.1. Anomaly detection of the UAV's speed from different measurement sources. The horizontal acceleration information output by the inertial navigation system is integrated and calculated to output the current UAV speed information. This information is then compared with the speed information output by GPS, Beidou, GLONASS, and other satellite navigation systems. The PDOP value (PDOP = position of dilution of precision, which refers to the geometric intensity factor of the satellite's spatial distribution in satellite navigation; generally, the better the satellite distribution, the smaller the PDOP value) is used to analyze whether the difference is within the preset threshold. If it exceeds the range for more than three consecutive data cycles, it is determined to be interfered with.

[0060] 2.2. Anomaly detection is performed on the current satellite navigation time information from different measurement sources. Using the high-precision internal timing of the time system equipment as a benchmark, the time output by GPS, Beidou, GLONASS and other satellite navigation systems is compared to analyze whether the difference is within the preset threshold range. If the difference exceeds the range for more than three consecutive data cycles, it is determined to be interfered with.

[0061] 2.3. Based on the above two steps, if any step fails, it is determined that the satellite navigation signal is interfered with and the process goes to step 4.

[0062] Furthermore, in one embodiment, step 3 performs navigation data consistency detection in combination with prior information, specifically including:

[0063] 3.1. Build an unmanned boat motion simulator based on the unmanned boat's power performance and hydrodynamic parameters. Using the current throttle, rudder angle, meteorological and hydrological parameters as input, it outputs an estimated speed vector for the unmanned boat. This is then compared with the speed output by GPS, Beidou, GLONASS, and other satellite navigation systems at the current moment. The difference is analyzed to see if it falls within a preset threshold. If the difference exceeds the threshold for more than three consecutive data cycles, the boat is considered to be experiencing interference.

[0064] 3.2. Based on the UAV's heading performance, obtain the boundary conditions of the UAV's motion, including parameters such as maximum speed, maximum acceleration, minimum turning radius, and maximum altitude during sea navigation. Compare these with the speed, acceleration, track change rate, and altitude output by GPS, Beidou, GLONASS, and other satellite navigation processing at the current moment, and analyze whether the difference is within the preset threshold range. If it exceeds the range for more than three consecutive data cycles, it is determined to be interfered with.

[0065] 3.3. Based on the above two steps, if any step fails, it is determined that the satellite navigation signal is interfered with and the process goes to step 4.

[0066] Furthermore, in one embodiment, step 4 combines target information back calculation to perform navigation consistency detection, specifically including:

[0067] 4.1. Based on pre-obtained electronic nautical chart information, select fixed landmarks such as lighthouses, islands, and navigation marks to perform latitude and longitude calibration on the UAV. The specific process is as follows: Based on the heading and position information output by the inertial navigation system and the position of the fixed landmarks extracted from the electronic nautical chart, the UAV's radar or optoelectronics system is used to detect, identify, confirm, and measure the position of the landmarks, thereby obtaining their relative distance and azimuth information. The precise position coordinates of the UAV at that time are calculated based on the latitude and longitude coordinates of the landmarks obtained from the electronic nautical chart.

[0068] 4.2. Based on the detection results of steps 1.5, 2.3, and 3.3, if any link determines that interference has occurred, the position coordinates of the unmanned boat calculated in step 4.1 are sent to the inertial navigation system as position calibration data. If there is no valid data in step 4.1 at this time, the inertial navigation system continues to maintain the autonomous navigation working mode and starts the next cycle of interference detection. If no interference is found in steps 1.5, 2.3, and 3.3, the process proceeds to step 4.3.

[0069] 4.3. Compare the UAV position coordinates calculated in step 4.1 with the position coordinates output by the satellite navigation system to analyze whether the difference is within the preset threshold range. If the data in any period exceeds the tolerance, it is determined that the satellite navigation signal is interfered with. At this time, the UAV position coordinates calculated in step 4.1 are sent to the inertial navigation system as position calibration data. If there is no valid data in step 4.1 at this time, the inertial navigation system continues to maintain the autonomous navigation working mode. If there is no deviation for two consecutive data periods, it is determined that the satellite navigation signal is not interfered with, and the position data output by the satellite navigation device at this time is sent to the inertial navigation system as calibration data, and the next period of interference detection begins.

[0070] In one embodiment, a satellite navigation interference detection system for an unmanned boat is provided, the system comprising:

[0071] The first module is used to detect satellite navigation signal anomalies and output the detection results;

[0072] The second module is used to detect anomalies in multi-source navigation data coupling and output the detection results;

[0073] The third module is used to perform navigation data consistency detection based on prior information and output the detection results;

[0074] The fourth module is used to perform navigation consistency detection based on target information backcalculation, or to perform inertial navigation calibration based on the previous detection results.

[0075] The specific limitations of the satellite navigation interference detection system for unmanned boats can be found in the limitations of the satellite navigation interference detection method for unmanned boats described above and will not be repeated here. Each module in the aforementioned satellite navigation interference detection system for unmanned boats can be implemented in whole or in part through software, hardware, or a combination thereof. Each of the aforementioned modules can be embedded in or independent of a processor in a computer device in hardware form, or can be stored in a memory in a computer device in software form, so that the processor can call and execute operations corresponding to each of the aforementioned modules.

[0076] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the following steps are performed:

[0077] Step 1: Perform satellite navigation signal anomaly detection and output the detection results;

[0078] Step 2: Perform multi-source navigation data coupling anomaly detection and output the detection results;

[0079] Step 3: Perform navigation data consistency check based on prior information and output the test results.

[0080] Step 4: Perform navigation consistency detection based on target information backcalculation, or perform inertial navigation calibration based on previous detection results.

[0081] For the specific limitations of each step, please refer to the limitations of the satellite navigation interference detection method for unmanned boats mentioned above, which will not be repeated here.

[0082] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0083] Step 1: Perform satellite navigation signal anomaly detection and output the detection results;

[0084] Step 2: Perform multi-source navigation data coupling anomaly detection and output the detection results;

[0085] Step 3: Perform navigation data consistency check based on prior information and output the test results.

[0086] Step 4: Perform navigation consistency detection based on target information backcalculation, or perform inertial navigation calibration based on previous detection results.

[0087] For the specific limitations of each step, please refer to the limitations of the satellite navigation interference detection method for unmanned boats mentioned above, which will not be repeated here.

[0088] The present invention can be widely used in satellite navigation interference detection for unmanned boats and can be extended to surface ships, and has broad application prospects.

[0089] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only illustrative of the principles of the present invention. Without departing from the spirit and scope of the present invention, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A satellite navigation interference detection method for unmanned boats, characterized in that: The method comprises the following steps: Step 1: Perform satellite navigation signal anomaly detection and output the detection results; Step 2: Perform multi-source navigation data coupling anomaly detection and output the detection results; Step 3: Perform navigation data consistency check based on prior information and output the test results. Step 4: Perform navigation consistency check based on target information backcalculation, or perform inertial navigation calibration based on previous test results. Step 3 combines prior information to perform data consistency detection, specifically including: Step 3.1: Build an unmanned boat motion simulator. Using the current throttle, rudder angle, and meteorological and hydrological parameters as input, it outputs an estimated velocity vector for the unmanned boat. This is compared with the current velocity output by each satellite navigation system to obtain a difference. The difference is then analyzed to determine whether it falls within a preset threshold. If the difference exceeds the threshold for more than three consecutive data cycles, it is determined that the satellite navigation signal is being interfered with. Step 3.2: Obtain the boundary conditions of the UAV's motion based on its heading performance, including the maximum speed, maximum acceleration, minimum turning radius, and maximum altitude parameters during sea navigation. These are then compared with the speed, acceleration, track change rate, and altitude output by each satellite navigation processor at the current moment to obtain the difference. The difference is then analyzed to see if it is within a preset threshold range. If these differences exceed the range for more than three consecutive data cycles, it is determined that the satellite navigation signal is being interfered with. Step 3.3: Based on the above two steps, if any step is abnormal, it is determined that the satellite navigation signal is interfered with and the process goes to step 4.

2. The satellite navigation interference detection method for unmanned boats according to claim 1, characterized in that: Step 1 performs satellite navigation signal anomaly detection, specifically including: Step 1.1: Perform a reception power anomaly test on each satellite navigation signal of the unmanned boat and analyze whether the reception power is within a preset threshold range; Step 1.2: At the same time as step 1.1, perform a reception signal-to-noise ratio anomaly test on each satellite navigation signal of the unmanned boat equipment to analyze whether the reception signal-to-noise ratio is within a preset threshold range; Step 1.3: At the same time as step 1.1, perform Doppler shift consistency detection on each satellite navigation signal of the unmanned boat, perform abnormal detection on the ratio of the carrier and the pseudo-code Doppler shift, and analyze whether it is within the preset threshold range; Step 1.4: After completing the above three steps, perform ephemeris information anomaly detection on each satellite navigation signal equipped by the unmanned vehicle, process the received satellite navigation signal, calculate and generate ephemeris information, compare different ephemeris time information from the same satellite signal source, and analyze whether the difference is within the preset threshold range; Step 1.5: Based on the above interference detection, if the detection indicators in any step exceed the corresponding preset threshold range, it is determined that interference has occurred in the satellite navigation signal, and the process goes to step 4. If both are within the preset threshold range, the subsequent steps 2 and 3 are detected simultaneously.

3. The satellite navigation interference detection method for unmanned boats according to claim 2, characterized in that: The satellite navigation signals include GPS, BeiDou, and GLONASS satellite navigation signals.

4. The satellite navigation interference detection method for unmanned boats according to claim 2, characterized in that: Step 2 is to detect anomalies in multi-source navigation data coupling, which specifically includes: Step 2.1: Detect anomalies in the UAV speed from different measurement sources. Use the horizontal acceleration information output by the inertial navigation system to perform an integral calculation and output the current UAV speed information. This is used as a benchmark for consistency comparison with the speed information output by each satellite navigation system to obtain the difference. Combined with the current PDOP value, analyze whether the difference is within the preset threshold range. If the PDOP value is less than the threshold for more than three consecutive data cycles and the speed error exceeds the threshold range, it is determined that the satellite navigation signal is interfered with. Step 2.2: Perform anomaly detection on the current satellite navigation time information from different measurement sources. Using the high-precision internal timing of the time system equipment as a benchmark, compare the time output by each satellite navigation to obtain the difference. Analyze whether the difference is within the preset threshold range. If the difference exceeds the threshold range for more than three consecutive data cycles, it is determined that the satellite navigation signal is interfered with. Step 2.3: Based on the above two steps, if any step is abnormal, it is determined that the satellite navigation signal is interfered with and the process goes to step 4.

5. The satellite navigation interference detection method for unmanned boats according to claim 4, characterized in that: Step 4 combines the target information back calculation to perform navigation consistency detection, which specifically includes: Step 4.1: Based on the previously acquired electronic nautical chart information, select a fixed marker to perform latitude and longitude calibration on the UAV. The specific process is as follows: Based on the heading and position information output by the inertial navigation system and the position of the fixed marker extracted from the electronic nautical chart, the UAV guides the radar or optoelectronic device configured on the UAV to detect, identify, confirm, and measure the position of the marker, obtain its relative distance and direction information, and calculate the UAV's current position coordinates based on the latitude and longitude coordinates of the marker obtained from the electronic nautical chart. The fixed markers include lighthouses, islands, and navigation marks. Step 4.2: Based on the detection results of steps 1.5, 2.3, and 3.3, if any link determines that interference occurs, the position coordinates of the unmanned vehicle calculated in step 4.1 are sent to the inertial navigation system as position calibration data. If there is no valid data in step 4.1 at this time, the inertial navigation system continues to maintain the autonomous navigation working mode and starts the next cycle of interference detection. If no interference occurs in steps 1.5, 2.3, and 3.3, the process proceeds to step 4.

3. In step 4.3, the position coordinates of the unmanned boat calculated in step 4.1 are compared with the position coordinates output by the satellite navigation to obtain the difference. The difference is analyzed to see whether it is within the preset threshold range. If the data in any period exceeds the threshold range, the satellite navigation signal is judged to be interfered with. At this time, the position coordinates of the unmanned boat calculated in step 4.1 are sent to the inertial navigation as position calibration data. If there is no valid data in step 4.1 at this time, the inertial navigation continues to maintain the autonomous navigation working mode. If the data does not exceed the threshold range for two consecutive data periods, the satellite navigation signal is judged to be not interfered with, and the position data output by the satellite navigation device at this time is sent to the inertial navigation as calibration data, and the interference detection for the next period is started.

6. A satellite navigation interference detection system for unmanned boats based on the method according to any one of claims 1 to 5, characterized in that: The system comprises: The first module is used to detect satellite navigation signal anomalies and output the detection results; The second module is used to detect anomalies in multi-source navigation data coupling and output the detection results; The third module is used to perform navigation data consistency detection based on prior information and output the detection results; The fourth module is used to perform navigation consistency detection based on target information backcalculation, or to perform inertial navigation calibration based on the previous detection results.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

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