Road constraint based combined navigation deception method

Abstract

This application relates to a method for deceptive navigation based on road constraints. The method includes: constructing deceptive constraints for the deception route using the current position of the target to be deceived, the navigation route, and a road network model; finding a deception route that satisfies the deceptive constraints; constructing a deceptive signal model for the integrated navigation system; and constructing a deceptive model using the deception starting point, the starting point of the deception route, and the deceptive signal model. When the current position of the integrated navigation system reaches the deception starting point, a deceptive signal is generated using the deceptive model to deceive the target, shifting the positioning result of the integrated navigation system from the deception starting point to the starting point of the deception route. Following the deceptive route, the target is then deceived to the deception point. Using this method in navigation countermeasures research can improve the security of civilian navigation systems and enhance their anti-deception interference capabilities.

Description

Technical Field

[0001] This application relates to the field of navigation technology, and in particular to a method for deception in integrated navigation based on road constraints. Background Technology

[0002] With the rapid development of autonomous driving technology and the widespread application of integrated navigation systems, these systems have been extensively used on various types of unmanned ground platforms. In the civilian sector, various unmanned platforms, represented by autonomous vehicles, are also equipped with integrated navigation systems. However, satellite navigation has always been plagued by deception and interference issues. Whether these deception and interference techniques can be utilized in the civilian sector to deceive various types of integrated navigation systems, thereby achieving navigation countermeasures research and improving the security and anti-deception / interference capabilities of civilian navigation systems, has been a key focus in this field. Summary of the Invention

[0003] Therefore, it is necessary to provide a road-constrained integrated navigation covert deception method that can be used to conduct navigation countermeasure research to improve the security of civilian navigation systems and enhance their anti-deception and interference capabilities.

[0004] A method for deceiving the concealment of integrated navigation based on road constraints, the method comprising:

[0005] Obtain road network data of the target area to be deceived from a public map database, and construct a road network model based on the road network data;

[0006] Obtain the initial navigation route of the target before it is deceived, and model the initial navigation route;

[0007] Construct the concealment constraints of the deception route using the current location of the target to be deceived, the navigation route, and the road network model;

[0008] Based on the current location of the target to be deceived, the navigation route, and the path search algorithm, a deception route that meets the concealment constraints is found. The deception route includes the deception starting point, which is located on the initial navigation route.

[0009] Construct a covert deception signal model for an integrated navigation system, and use the deception starting point, the deception route starting point, and the covert deception signal model to build a covert deception model;

[0010] When the current position of the integrated navigation reaches the deception starting point, a covert deception signal is generated using the covert deception model to deceive the target to be deceived. The positioning result of the integrated navigation system is deceived from the deception starting point to the starting point of the deception route. The target is then driven according to the deception route to obtain the deception target point to which the target to be deceived has been deceived.

[0011] In one embodiment, if the target to be deceived has already been deceived to the starting point of the deception route or has already traveled along the deception route, the deception signal is stopped, and the target is allowed to travel along the deception route.

[0012] If the target's current position is not deceived to the starting point of the deception route or does not travel according to the deception route, then the deception will be carried out at the next deception starting point until the deception is successful.

[0013] In one embodiment, constructing a road network model based on road network data includes:

[0014] The road network model is constructed based on the road network data as G=(S,C,L,Ψ,B), where S is the set of road segments, C is the set of connection points of each road segment, L is the set of lengths of each road segment in S, Ψ is the set of corners in C, and B is the set of curvatures of each road segment.

[0015] In one embodiment, modeling the initial navigation route includes:

[0016] Model the initial navigation route as

[0017] R = (r1, r2, ..., r n )

[0018] Where r represents a road segment on the initial navigation route, and n represents the total number of road segments included in the initial navigation route.

[0019] In one embodiment, the concealment constraints of the deception route are constructed using the current location of the target to be deceived, the navigation route, and the road network model, including:

[0020] The concealment constraints for constructing the deception route using the target's current location, navigation route, and road network model are as follows:

[0021]

[0022] Among them, P,P S R represents the starting point of the deception and the starting point of the deception route, respectively. S R represents the length of the deception route and the initial navigation route, respectively, and S represents the length of the initial navigation route. S S represents the number of road segments in the deceptive route and the initial navigation route, respectively, and C represents the number of road segments in the initial navigation route. S C represents the number of connection points in the deceptive route and the initial navigation route, respectively. L k Let be the lengths of the k-th segment in the deceptive route and the initial navigation route, respectively. B k Let be the curvature of the k-th segment in the deceptive route and the initial navigation route, respectively. Ψ kT represents the size of the k-th turn in the deceptive route and the initial navigation route, respectively. P ,T R , The threshold value is set.

[0023] In one embodiment, a deception route that satisfies the concealment constraint is found based on the current location of the target to be deceived, the navigation route, and a path search algorithm, including:

[0024] Using the current location of the target to be deceived and the navigation route, the remaining navigation routes are obtained. On the remaining navigation routes, the routes between each connection point and the end point of the navigation route are taken in order of distance from the current location of the target to be deceived, so as to obtain multiple routes.

[0025] The path search algorithm searches multiple routes to find deception routes and corresponding connection points that meet the concealment constraints. The corresponding connection points are potential deception starting points, and the deception starting points are connected to the deception routes.

[0026] In one embodiment, the concealed deception signal model of the integrated navigation system is constructed as follows:

[0027]

[0028] Where T0, T are the set deception detection thresholds, and T = [T4…T] r ], These are information errors and integrated navigation errors caused by GNSS deception, respectively. For all the deceptions applied, Let r be the maximum amount of deception applied, and r be the dimension of the integrated navigation state equations.

[0029] In one embodiment, a covert deception model is constructed using the deception origin, the origin of the deception route, and a covert deception signal model, including:

[0030] A covert deception model is constructed using the deception origin, the deception route origin, and the covert deception signal model.

[0031]

[0032] Where (Δx, Δy, Δz) represents the coordinates of the deception starting point, (Δx e ,Δy e ,Δz e ) represents the coordinates of the starting point of the deception route, N represents the number of deceptions required, M represents the amount of deception applied in the last deception, and divmod() represents the deception strategy function.

[0033] In one embodiment, when N=0 and M=0, there is no deception; when N=0 and M≠0, one deception of amount M is performed; when N≠0 and M=0, N deceptions of amount Δx are performed; when N≠0 and M≠0, N deceptions of amount Δx are performed followed by one deception of amount M.

[0034] The aforementioned road-constrained integrated navigation covert deception method utilizes road network data obtained from a public map database to construct a road network model of the target area. Simultaneously, it models the initial navigation route of the target before it is deceived. Then, it constructs covert constraints for the deception route using the target's current position, the navigation route, and the road network model. Next, it uses these covert constraints and a path search algorithm to find a deception route that satisfies the covert constraints. Afterward, it constructs a covert deception model for the integrated navigation system. When the current position of the integrated navigation system reaches the deception starting point, it generates a covert deception signal using the covert deception model to deceive the target, causing the positioning result of the integrated navigation system to be deceived from the deception starting point to the starting point of the deception route. The navigation system then travels along the deception route and is eventually deceived to the target point. Finally, the deception effect is evaluated. If the target's current position has been successfully deceived to the starting point of the deception route, or has already traveled along the deception route, the deception signal is stopped, and the target continues to travel along the deception route. Otherwise, deception is performed at the next deception starting point until the deception is successful. This application has a wide range of applications. In the military field, it can be used to deceive enemy ground unmanned platforms to achieve the purpose of anti-unmanned warfare, while improving the anti-deception and interference capabilities of our own unmanned combat platforms. In the civilian field, it can be used to deceive various types of integrated navigation systems to achieve the purpose of navigation countermeasure research, thereby improving the security of civilian navigation systems. It can also be used in various anti-unmanned scenarios under road constraints, such as urban anti-unmanned warfare. Attached Figure Description

[0035] Figure 1 This is a flowchart illustrating a road constraint-based integrated navigation covert deception method in one embodiment. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0037] In one embodiment, such as Figure 1 As shown, a method for deceiving the concealment of integrated navigation based on road constraints is provided, including the following steps:

[0038] Step 102: Obtain road network data of the target area to be deceived from the public map database, and construct a road network model based on the road network data; obtain the initial navigation route of the target before it is deceived, and model the initial navigation route.

[0039] The road network data includes a set of road segments, a set of connection points for each road segment, a set of lengths for each road segment within the set of connection points, a set of turning angles within the set of connection points, and a set of curvatures for each road segment. The initial navigation route model is established as R = (r1, r2, ..., r...). n If the navigation route is at the connector (r) i ,r i+1 If the turning angle of a road segment is below the threshold θ, these road segments are merged. Modeling the initial navigation route facilitates subsequent navigation route calculations and the construction of deceptive route concealment constraints for deception.

[0040] Step 104: Construct the concealment constraints of the deception route using the current location of the target to be deceived, the navigation route, and the road network model.

[0041] Obtain the current location and navigation route of the target to be deceived. The navigation route refers to the route from the current location of the target to be deceived to the end point of the initial navigation route.

[0042] Step 106: Based on the current location of the target to be deceived, the navigation route, and the path search algorithm, find a deception route that meets the concealment constraint. The deception route includes the deception starting point, which is located on the initial navigation route.

[0043] The remaining navigation routes are obtained by using the current position of the target to be deceived and the navigation route. On the remaining navigation routes, the routes between each connection point and the end point of the navigation route are taken in order of distance from the current position of the target to be deceived. Then, the breadth-first search algorithm is used to search to find the deception route and the corresponding connection point that meet the constraints. The corresponding connection point is the potential deception starting point.

[0044] Step 108: Construct a covert deception signal model for the integrated navigation system. The covert deception model is constructed using the deception starting point, the starting point of the deception route, and the covert deception signal model.

[0045] Step 110: When the current position of the integrated navigation reaches the deception starting point, a covert deception signal is generated using the covert deception model to deceive the target to be deceived. The positioning result of the integrated navigation system is deceived from the deception starting point to the starting point of the deception route. The target is driven according to the deception route to obtain the deception target point to which the target to be deceived has been deceived.

[0046] The deception effect is evaluated. If the target's current position has been successfully deceived to the starting point of the deception route, or if the target has already traveled along the deception route, the deception signal is stopped, and the target is allowed to travel along the deception route. Otherwise, the deception continues at the next deception starting point until the deception is successful.

[0047] In the aforementioned road-constrained integrated navigation covert deception method, this application utilizes road network data obtained from a public map database to construct a road network model of the target area. Simultaneously, it models the initial navigation route of the target before it is deceived. Then, it uses the target's current position, the navigation route, and the road network model to construct covert constraints for the deception route. Next, it uses these covert constraints and a path search algorithm to find a deception route that satisfies the covert constraints. Afterward, it constructs a covert deception model for the integrated navigation system. When the current position of the integrated navigation system reaches the deception starting point, it uses the covert deception model to generate a covert deception signal to deceive the target, causing the positioning result of the integrated navigation system to be deceived from the deception starting point to the starting point of the deception route. The navigation system then travels along the deception route and is eventually deceived to the target point. Finally, the deception effect is evaluated. If the target's current position has been successfully deceived to the starting point of the deception route, or has already traveled along the deception route, the deception signal is stopped, and the target continues to travel along the deception route. Otherwise, the deception continues at the next deception starting point until the deception is successful. This application has a wide range of applications. In the military field, it can be used to deceive enemy ground unmanned platforms to achieve the purpose of anti-unmanned warfare, while improving the anti-deception and interference capabilities of our own unmanned combat platforms. In the civilian field, it can be used to deceive various types of integrated navigation systems to achieve the purpose of navigation countermeasure research, thereby improving the security of civilian navigation systems. It can also be used in various anti-unmanned scenarios under road constraints, such as urban anti-unmanned warfare.

[0048] In one embodiment, if the target to be deceived has been deceived to the starting point of the deception route or has already traveled along the deception route, the deception signal is stopped, and the target to be deceived travels along the deception route.

[0049] If the target's current position is not deceived to the starting point of the deception route or does not travel according to the deception route, then the deception will be carried out at the next deception starting point until the deception is successful.

[0050] In one embodiment, constructing a road network model based on road network data includes:

[0051] The road network model is constructed based on the road network data as G=(S,C,L,Ψ,B), where S is the set of road segments, C is the set of connection points of each road segment, L is the set of lengths of each road segment in S, Ψ is the set of corners in C, and B is the set of curvatures of each road segment.

[0052] In one embodiment, modeling the initial navigation route includes:

[0053] Model the initial navigation route as

[0054] R = (r1, r2, ..., r n )

[0055] Where r represents a road segment on the initial navigation route, and n represents the total number of road segments on the initial navigation route.

[0056] In one embodiment, the concealment constraints of the deception route are constructed using the current location of the target to be deceived, the navigation route, and the road network model, including:

[0057] The concealment constraints for constructing the deception route using the target's current location, navigation route, and road network model are as follows:

[0058]

[0059] Among them, P,P S R represents the starting point of the deception and the starting point of the deception route, respectively. S R represents the length of the deception route and the initial navigation route, respectively, and S represents the length of the initial navigation route. S S represents the number of road segments in the deceptive route and the initial navigation route, respectively, and C represents the number of road segments in the initial navigation route. S C represents the number of connection points in the deceptive route and the initial navigation route, respectively. L k Let be the lengths of the k-th segment in the deceptive route and the initial navigation route, respectively. B k Let be the curvature of the k-th segment in the deceptive route and the initial navigation route, respectively. Ψ k T represents the size of the k-th turn in the deceptive route and the initial navigation route, respectively. P ,T R , The threshold value is set.

[0060] In one embodiment, a deception route that satisfies the concealment constraint is found based on the current location of the target to be deceived, the navigation route, and a path search algorithm, including:

[0061] Using the current location of the target to be deceived and the navigation route, the remaining navigation routes are obtained. On the remaining navigation routes, the routes between each connection point and the end point of the navigation route are taken in order of distance from the current location of the target to be deceived, so as to obtain multiple routes.

[0062] The path search algorithm searches multiple routes to find deception routes and corresponding connection points that meet the concealment constraints. The corresponding connection points are potential deception starting points, and the deception starting points are connected to the deception routes.

[0063] In one embodiment, the concealed deception signal model of the integrated navigation system is constructed as follows:

[0064]

[0065] Where T0, T are the set deception detection thresholds, and T = [T4…T] r ], These are information errors and integrated navigation errors caused by GNSS deception, respectively. For all the deceptions applied, Let r be the maximum amount of deception applied, and r be the dimension of the integrated navigation state equations.

[0066] In one embodiment, a covert deception model is constructed using the deception origin, the origin of the deception route, and a covert deception signal model, including:

[0067] A covert deception model is constructed using the deception origin, the deception route origin, and the covert deception signal model.

[0068]

[0069] Where (Δx, Δy, Δz) represents the coordinates of the deception starting point, (Δx e ,Δy e ,Δz e ) represents the coordinates of the starting point of the deception route, N represents the number of deceptions required, M represents the amount of deception applied in the last deception, and divmod() represents the deception strategy function.

[0070] In one embodiment, when N=0 and M=0, there is no deception; when N=0 and M≠0, one deception of amount M is performed; when N≠0 and M=0, N deceptions of amount Δx are performed; when N≠0 and M≠0, N deceptions of amount Δx are performed followed by one deception of amount M.

[0071] It should be understood that, although Figure 1 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0072] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0073] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for deceiving the concealment of integrated navigation based on road constraints, characterized in that, The method includes: Obtain road network data of the target area to be deceived from a public map database, and construct a road network model based on the road network data; Obtain the initial navigation route of the target before it is deceived, and model the initial navigation route; The concealment constraints of the deception route are constructed using the current location of the target to be deceived, the navigation route, and the road network model. Based on the current location of the target to be deceived, the navigation route, and the path search algorithm, a deception route that satisfies the concealment constraint is found. The deception route includes a deception starting point, which is located on the initial navigation route. Construct a covert deception signal model for an integrated navigation system, and use the deception starting point, the deception route starting point, and the covert deception signal model to construct a covert deception model; When the current position of the integrated navigation reaches the deception starting point, a covert deception signal is generated using the covert deception model to deceive the target to be deceived. The positioning result of the integrated navigation system is deceived from the deception starting point to the starting point of the deception route. The target is then driven according to the deception route to obtain the deception target point to which the target to be deceived has been deceived. The concealment constraints for constructing the deception route are established using the current location of the target to be deceived, the navigation route, and the road network model, including: The concealment constraints for constructing the deception route using the current location of the target to be deceived, the navigation route, and the road network model are as follows: in, These are the starting point of the deception and the starting point of the deception route, respectively. These are the lengths of the deception route and the initial navigation route, respectively. These represent the number of road segments in the deceptive route and the initial navigation route, respectively. These represent the number of connection points in the deceptive route and the initial navigation route, respectively. Let be the lengths of the k-th segment in the deceptive route and the initial navigation route, respectively. Let be the curvature of the k-th segment in the deceptive route and the initial navigation route, respectively. Let these be the sizes of the k-th turns in the deceptive route and the initial navigation route, respectively. The set threshold; The model for the covert deception signal of the integrated navigation system is as follows: in, The set deception detection threshold, , These are information errors and integrated navigation errors caused by GNSS deception, respectively. For all the deceptions applied, Let r be the maximum amount of deception applied, and r be the dimension of the integrated navigation state equations.

2. The method according to claim 1, characterized in that, The method further includes: If the target to be deceived has already been deceived to the starting point of the deception route or has already traveled along the deception route, then the deception signal stops, and the target to be deceived continues to travel along the deception route. If the target's current position is not successfully deceived to the starting point of the deception route or does not follow the deception route, the deception will continue at the next deception starting point until the deception is successful.

3. The method according to claim 1, characterized in that, Constructing a road network model based on the road network data includes: Based on the road network data, a road network model is constructed as follows: Where S is the set of road segments, C is the set of connection points between road segments, and L is the set of lengths of all road segments in S. Let C be the set of corners. It is the set of curvatures of each road segment.

4. The method according to any one of claims 1 to 3, characterized in that, Modeling the initial navigation route includes: The initial navigation route is modeled as follows: in, Indicates a segment of the initial navigation route. n This indicates the total number of road segments included in the initial navigation route.

5. The method according to claim 1, characterized in that, Based on the current location of the target to be deceived, the navigation route, and the path search algorithm, a deception route that satisfies the concealment constraints is found, including: Using the current location of the target to be deceived and the navigation route, the remaining navigation routes are obtained. On the remaining navigation routes, the routes between each connection point and the end point of the navigation route are taken in order of distance from the current location of the target to be deceived, so as to obtain multiple routes. The multiple routes are searched using a path search algorithm to find deception routes and corresponding connection points that meet the concealment constraints; the corresponding connection points are potential deception starting points, and the deception starting points and deception routes are connected.

6. The method according to claim 1, characterized in that, Constructing a covert deception model using the deception starting point, the deception route starting point, and the covert deception signal model includes: The covert deception model is constructed using the deception starting point, the deception route starting point, and the covert deception signal model as follows: in, The coordinates of the starting point of the deception. The coordinates represent the starting point of the deception route, N represents the number of deceptions required, and M represents the amount of deception applied in the last deception. This represents the deception strategy function.

7. The method according to claim 6, characterized in that, The method further includes: when There is no deception; when At that time, the amount of one deception is Deception; when At that time, The number of deceptions is Deception; when At that time, The number of deceptions is After being deceived once, the amount of deception is... Deception.

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