A PNT information credibility evaluation method, device, equipment and medium

Abstract

The application discloses a PNT information credibility evaluation method and device, equipment and medium, which are applied to the PNT technical field, and specifically are: determining the index values of a PNT system under various credible evaluation indexes of different capability elements based on service performance data of the PNT system; determining a credible radar chart of the PNT system by using the grading intervals of the various credible evaluation indexes of the different capability elements based on the index values of the PNT system under the various credible evaluation indexes of the different capability elements; and determining the PNT information credibility level of the PNT system based on the area of the credible radar chart of the PNT system, so that the index values of the various credible evaluation indexes of the different capability elements are obtained by hierarchical decomposition of the service performance data, the grading intervals of the various credible evaluation indexes of the different capability elements are combined, and the PNT information credibility level is determined by using the credible radar chart, and therefore, complete and comprehensive PNT information credibility evaluation can be realized.

Description

Technical Field

[0001] This application relates to the field of PNT (Positioning, Navigation, and Timing) technology, and in particular to a method, apparatus, device, and medium for evaluating the reliability of PNT information. Background Technology

[0002] With the rapid development of global informatization, digitalization, and intelligentization, PNT information is gradually being integrated into all walks of life, and daily production and life are increasingly reliant on PNT information, making the credibility of PNT information particularly important.

[0003] Currently, many studies on the credibility of PNT information have been conducted both domestically and internationally, but there is still no well-established PNT information credibility assessment mechanism, resulting in poor PNT information credibility assessment effectiveness. Summary of the Invention

[0004] This application provides a method, apparatus, device, and medium for assessing the credibility of PNT information, in order to solve the problem that the existing technology has poor assessment effect on the credibility of PNT information. Specifically, the technical solution provided by this application is as follows:

[0005] On the one hand, this application provides a method for assessing the credibility of PNT information, including:

[0006] Based on the service performance data of the PNT system to be evaluated, determine the index values ​​of the PNT system under each credible evaluation index corresponding to different capability elements.

[0007] Based on the index values ​​of the PNT system under various credibility evaluation indicators corresponding to different capability elements, and using the hierarchical range of each credibility evaluation indicator corresponding to different capability elements, the credibility radar chart of the PNT system is determined.

[0008] The credibility level of PNT information in a PNT system is determined based on the area of ​​the credible radar map of the PNT system.

[0009] On the other hand, this application also provides a PNT information credibility assessment device, comprising:

[0010] The indicator value determination unit is used to determine the indicator values ​​of the PNT system under various credible evaluation indicators corresponding to different capability elements based on the service performance data of the PNT system to be evaluated.

[0011] The radar chart determination unit is used to determine the credibility radar chart of the PNT system based on the index values ​​of each credibility evaluation index corresponding to different capability elements of the PNT system and by using the hierarchical range of each credibility evaluation index corresponding to different capability elements.

[0012] The credibility assessment unit is used to determine the credibility level of PNT information based on the area of ​​the credibility radar map of the PNT system.

[0013] On the other hand, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-described PNT information credibility assessment method.

[0014] On the other hand, this application also provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the above-described PNT information reliability assessment method.

[0015] The beneficial effects of this application are as follows:

[0016] This application obtains the index values ​​of various credibility evaluation indicators for different capability elements by hierarchically decomposing the service performance data of the PNT system. It also combines the graded intervals of the various credibility evaluation indicators for different capability elements with the use of credibility radar charts to determine the credibility level of PNT information. This can improve the accuracy and effectiveness of PNT information credibility assessment while achieving a complete and comprehensive PNT information credibility assessment.

[0017] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0019] Figure 1 This is a flowchart illustrating the PNT information credibility assessment method in the embodiments of this application.

[0020] Figure 2 This is a schematic diagram outlining the PNT information credibility assessment method in the embodiments of this application;

[0021] Figure 3a These are schematic diagrams of the credible radar chart and the full-level radar chart in the embodiments of this application;

[0022] Figure 3b This is a schematic diagram of the credible radar chart generation process in the embodiments of this application;

[0023] Figure 4aThis is a schematic diagram of the L0-level PNT system composition in the embodiments of this application;

[0024] Figure 4b This is a schematic diagram of the L1-level PNT system composition in an embodiment of this application;

[0025] Figure 4c This is a schematic diagram of the L2-level PNT system composition in an embodiment of this application;

[0026] Figure 4d This is a schematic diagram of the L3 level PNT system composition in the embodiments of this application;

[0027] Figure 4e This is a schematic diagram of the L4-level PNT system composition in an embodiment of this application;

[0028] Figure 5 This is a functional structure diagram of the PNT information credibility assessment device in the embodiments of this application;

[0029] Figure 6 This is a schematic diagram of the hardware structure of the electronic device in the embodiments of this application. Detailed Implementation

[0030] To make the objectives, technical solutions, and beneficial effects of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] To facilitate a better understanding of this application by those skilled in the art, the technical terms used in this application will be briefly introduced below.

[0032] PNT systems are application systems based on PNT technology. For example, various application systems in fields supported by PNT technology, such as deep space, remote ground-based systems, underwater positioning, navigation and timing, and technology roadmaps, can all be called PNT systems.

[0033] A credible radar chart is a graph formed by connecting the different credible evaluation indicators with different concentric circles representing different zones of the credible evaluation indicators, different concentric circles representing different grade intervals of the credible evaluation indicators, and the target position of each credible evaluation indicator value in the corresponding grade interval as the vertex.

[0034] A full-level radar chart is a graph formed by connecting the target locations where the full-level index values ​​of each credibility evaluation index are located, with different concentric circles representing different zones of the credibility evaluation index, and different concentric circles representing different grading intervals of the credibility evaluation index.

[0035] It should be noted that the terms "first," "second," etc., used in this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein.

[0036] After introducing the technical terms used in this application, the application scenarios and design concepts of this application will be briefly introduced next.

[0037] To assess the reliability of PNT information in a PNT system, this application embodiment refers to... Figure 1 As shown, the service performance data of the PNT system to be evaluated is hierarchically decomposed to determine the index values ​​of the PNT system under each credibility evaluation indicator corresponding to different capability elements. Furthermore, based on the index values ​​of the PNT system under each credibility evaluation indicator corresponding to different capability elements, and using the grading intervals of each credibility evaluation indicator corresponding to different capability elements—that is, using a "quantitative + qualitative" evaluation criterion—a credibility radar chart of the PNT system is determined. Based on the area of ​​the credibility radar chart, the credibility level of the PNT information is determined. Thus, by hierarchically decomposing the service performance data of the PNT system to obtain the index values ​​of each credibility evaluation indicator for different capability elements, and combining the grading intervals of each credibility evaluation indicator for different capability elements with the credibility radar chart to determine the credibility level of PNT information, a complete and comprehensive PNT information credibility assessment can be achieved while improving the accuracy and effectiveness of the PNT information credibility assessment.

[0038] After introducing the application scenarios and design concepts of this application, the technical solutions provided by this application will be described in detail below.

[0039] This application provides a PNT information credibility assessment method, applicable to electronic devices such as computers. (See attached document.) Figure 2 As shown in the embodiments of this application, the general flow of the PNT information credibility assessment method is as follows:

[0040] Step 201: Based on the service performance data of the PNT system to be evaluated, determine the index values ​​of the PNT system under each credible evaluation index corresponding to different capability elements.

[0041] In practical implementation, when determining the index values ​​of the PNT system under various reliable evaluation indicators corresponding to different capability elements based on the service performance data of the PNT system to be evaluated, the following methods may be used, but are not limited to:

[0042] First, obtain the system segment basic capability data, environment segment security protection and error feedback capability data, and user segment error recovery capability data of the PNT system.

[0043] The system segment basic capability data includes, but is not limited to, GNSS (Global Navigation Satellite System) navigation messages, low-orbit satellite navigation information, 5G base station information, and terrestrial base station information; the environmental segment security protection and error feedback capability data includes, but is not limited to, environmental segment security protection data when PNT information is protected during network transmission, and environmental segment error feedback data when errors occur and are reported; the user segment error recovery capability data includes, but is not limited to, user segment error recovery data when PNT information recovers its capabilities after errors occur and are reported during network transmission.

[0044] Then, the system segment basic capability data, environment segment security protection and error feedback capability data, and user segment error recovery capability data of the PNT system are analyzed to obtain the index values ​​of the PNT system under various credibility evaluation indicators corresponding to different capability elements. The specific steps include:

[0045] Step a: Analyze the basic capability data of the system segment to obtain the estimated index values ​​of the PNT system under the continuity index and the estimated index value under the availability index corresponding to the basic capability elements.

[0046] Among them, the basic capability element is used to characterize the ability to obtain continuously available navigation signals, which is reflected by indicators such as accuracy, availability, and continuity. The availability index is determined based on the probability that the PNT system can provide the required positioning accuracy when operating without failure. It can be divided into five graded intervals according to the typical availability probability, specifically from 0.99 to 0.99999. The continuity index is determined based on the probability that the required performance can be provided within a certain period of time without service interruption. It can be divided into five graded intervals using the continuity risk probability, specifically from 1×10-3 / 15s to 2×10-6 / 15s.

[0047] Step b: Analyze the environmental segment security protection and error feedback capability data to obtain the estimated index values ​​of the PNT system under the anti-spoofing index and the anti-interference index corresponding to the protection capability elements, as well as the estimated index values ​​of the PNT system under the integrity index corresponding to the alarm capability elements.

[0048] Among them, protection capability is used to characterize the ability to resist certain spoofing and interference and keep PNT information unaffected by spoofing and interference. It is reflected by indicators such as encryption / decryption authentication and power enhancement related to anti-spoofing and anti-interference. The anti-spoofing indicator is determined based on the probability of detecting spoofing interference and issuing an early warning when faced with spoofing interference. It can be divided into five levels based on the probability of spoofing early warning: no early warning, 68.26%, 95.46%, 99.73%, and 99.9937%. The anti-interference indicator is determined based on the ability to resist suppression interference when faced with suppression interference. It can be divided into three levels based on the ability to resist suppression interference: no anti-interference capability, narrowband interference capability, and broadband interference capability. Interference capability, including broadband interference resistance, can be divided into three grade intervals based on the number of array antenna elements; alarm capability is used to characterize the ability to obtain corresponding alarm information in a timely manner once the performance of PNT information service exceeds the limit. It is reflected by related indicators such as integrity and self / mutual verification. The integrity indicator is determined based on the alarm capability provided when the PNT system is unusable / failed, and mainly includes alarm time (TTA), alarm threshold (AL), and integrity alarm risk (IR). The grade intervals can be divided according to aviation navigation requirements. Specifically, it can be divided into five grade intervals according to the requirements of NPA, APV-I, APV-II, LPV-200, CAT-I, CAT-II, and CAT-III.

[0049] Step c: Analyze the user segment error recovery capability data to obtain the estimated index values ​​of the PNT system under the resilience index corresponding to the resilience capability elements.

[0050] Among them, resilience is used to characterize the ability of PNT to maintain and recover performance after obtaining alarm information. It is reflected by indicators such as the number of types of PNT information sources, retention time, and protection threshold related to maintenance and recovery. The resilience index is determined based on the ability of PNT to maintain and recover performance after obtaining alarm information. The resilience level is divided into five levels: no resilience, two-source combination capability, multi-source cross-verification capability, and multi-source recovery capability.

[0051] In this embodiment, starting from the end-to-end trust issues of the PNT system—system segment, environment segment, and user segment—it progressively advances from ensuring routine availability under simple conditions to reliable use under complex conditions, defining four layers of the PNT system: the basic layer, the second layer, the third layer, and the fourth layer. The basic layer addresses the basic usability of PNT information, ensuring that the accuracy, continuity, and availability of PNT information meet usage requirements without external interference. The second layer addresses potential issues like deception and interference during PNT information transmission, providing authentication and protection to prevent intentional or unintentional tampering and influence. The third layer addresses timely notification of errors in PNT information, preventing catastrophic consequences from incorrect business judgments or decisions due to faulty PNT information, thus guaranteeing the trustworthiness of PNT information. The fourth layer addresses issues related to PNT information reliability. The rapid recovery and performance maintenance of PNT information after errors occur and alarms are crucial to its reliability. Furthermore, after defining the four layers of the PNT system, four capability elements can be identified from the perspective of user experience and perception: basic capability elements, protection capability elements, alarm capability elements, and resilience capability elements. Corresponding reliability evaluation indicators can then be proposed for each capability element. In practical applications, service performance data such as system-level basic capability data, environment-level security protection and error feedback capability data, and user-level error recovery capability data can be analyzed to obtain the indicator values ​​for each reliability evaluation indicator corresponding to different capability elements. In practical applications, there are various methods for analyzing indicator values, such as artificial intelligence-based analysis and big data-based analysis. This application embodiment can employ any of these analysis methods to obtain the indicator values.

[0052] Step 202: Based on the index values ​​of the PNT system under each credibility evaluation index corresponding to different capability elements, and using the hierarchical range of each credibility evaluation index corresponding to different capability elements, determine the credibility radar chart of the PNT system.

[0053] In practical implementation, when determining the credibility radar chart of the PNT system based on the index values ​​of each credibility evaluation index corresponding to different capability elements of the PNT system, and using the hierarchical range of each credibility evaluation index corresponding to different capability elements, the following methods can be used, but are not limited to:

[0054] First, for each reliability evaluation index corresponding to each capability element of the PNT system, the target grading interval where the index value is located is determined from each grading interval of the reliability evaluation index corresponding to the capability element, and the target position of the index value in the target grading interval is determined based on the position interval of the target grading interval.

[0055] Then, connecting the target positions of each indicator value as vertices yields a reliable radar chart. For example, a reliable radar chart could be... Figure 3a radar in Figure 1 or radar Figure 2 .

[0056] Thus, see Figure 3b As shown, by acquiring basic system-level capability data such as GNSS navigation messages, low-orbit satellite navigation information, 5G base station information, and terrestrial base station information at the system segment, the basic capabilities (basic level) of the PNT system can be analyzed based on this data. Subsequently, the estimated index values ​​of the PNT system under the continuity and availability indices corresponding to the basic capability elements can be analyzed. By acquiring environmental segment security protection data during PNT information network transmission, the information transmission security capabilities (second level) of the PNT system can be analyzed based on this data. Subsequently, the estimated index values ​​of the PNT system under the anti-spoofing and anti-interference indices corresponding to the protection capability elements can be analyzed. Finally, by acquiring environmental segment error feedback data when errors occur and are reported during PNT information network transmission, the system can be analyzed based on this error feedback data. The error feedback capability of the PNT system (third level) is analyzed, followed by the estimated index value of the PNT system under the integrity index corresponding to the alarm capability element. By acquiring user segment error recovery data when PNT information is transmitted through the network and errors are reported and then PNT capability is restored, the error recovery capability of the PNT system (fourth level) can be analyzed based on the user segment error recovery data. Then, the estimated index value of the PNT system under the resilience index corresponding to the resilience capability element can be analyzed. Furthermore, by acquiring multiple discrete hierarchical intervals as shown in Table 1, which are pre-divided for each trust evaluation index, the trust radar chart of the PNT system can be determined based on the index value of the PNT system under each trust evaluation index corresponding to different capability elements and the hierarchical intervals of each trust evaluation index corresponding to different capability elements. Thus, a trust radar chart that can more accurately express the trustworthiness of the PNT system can be obtained.

[0057] Table 1.

[0058]

[0059] Step 203: Determine the credibility level of PNT information based on the area of ​​the credible radar map of the PNT system.

[0060] In practical implementation, when determining the credibility radar chart of the PNT system based on the index values ​​of each credibility evaluation index corresponding to different capability elements of the PNT system, and using the hierarchical range of each credibility evaluation index corresponding to different capability elements, the following methods can be used, but are not limited to:

[0061] The first approach: Based on the correlation between area intervals and PNT information trust levels, the PNT information trust level associated with the area interval containing the area of ​​the trusted radar chart is determined as the PNT information trust level of the PNT system. Specifically, if the area interval containing the area of ​​the trusted radar chart is a first area interval (e.g., less than 20), the PNT information trust level of the PNT system is determined to be level zero (e.g., L0), which indicates no trusted service; if the area interval containing the area of ​​the trusted radar chart is a second area interval larger than the first area interval (e.g., 20–40), the PNT information trust level of the PNT system is determined to be primary (e.g., L1), which indicates the lowest level of trusted service; if the area interval containing the area of ​​the trusted radar chart is a third area interval larger than the second area interval (e.g., 40–60), the PNT information trust level of the PNT system is determined to be level two (e.g., L2), which indicates the lowest level of trusted service. The system is characterized by having a positioning service that does not rely on the Global Navigation Satellite System (GNSS). If the area range of the trusted radar image is a fourth area range (e.g., 60-80) larger than the third area range, then the PNT information trust level of the PNT system is determined to be Level 3 (e.g., Level L3). If the area ratio of the trusted radar image is a fifth area range (e.g., 80-100) larger than the fourth area range, then the PNT information trust level of the PNT system is determined to be Level 4 (e.g., Level L4). This Level 4 characterization indicates that the system has a trusted PNT service and an adaptive adjustment service that can identify and eliminate the causes of untrusted factors and malicious deception sources and issue emergency alarm signals.

[0062] The second approach: Based on the area of ​​the trusted radar chart and the area of ​​the full-level radar chart, determine the area ratio of the trusted radar chart relative to the full-level radar chart. Then, based on the correlation between the ratio interval and the PNT information trust level, determine the PNT information trust level of the PNT system based on the ratio interval where the trusted radar chart's area ratio falls. The full-level radar chart is determined based on the full-level index values ​​of various trust evaluation indicators corresponding to different capability elements. For example, the full-level radar chart could be... Figure 3aThe radar chart in section 3 illustrates this. Specifically, if the area percentage of the trusted radar chart falls within the first percentage interval (e.g., less than 20%), the PNT information trust level of the PNT system is determined to be level zero (e.g., L0), indicating no trusted service. If the area percentage of the trusted radar chart falls within the second percentage interval (e.g., 20%–40%), which is greater than the first percentage interval, the PNT information trust level of the PNT system is determined to be primary (e.g., L1), indicating the lowest level of trusted service. If the area percentage of the trusted radar chart falls within the third percentage interval (e.g., 40%–60%), which is greater than the second percentage interval, the PNT information trust level of the PNT system is determined to be level two (e.g., L2). The PNT system is classified into three levels (e.g., Level 3) for PNT information trustworthiness. Level 2 features positioning services independent of GNSS. If the area percentage of the trusted radar image falls within a fourth percentage interval (e.g., 60%–80%) that is greater than the third percentage interval, the PNT information trustworthiness level of the PNT system is determined to be Level 3 (e.g., Level 3). This Level 3 feature provides trusted PNT services. If the area percentage of the trusted radar image falls within a fifth percentage interval (e.g., 80%–100%) that is greater than the fourth percentage interval, the PNT information trustworthiness level of the PNT system is determined to be Level 4 (e.g., Level 4). This Level 4 feature provides trusted PNT services and adaptive adjustment services that identify and eliminate the causes of untrustworthy factors and malicious deception sources and issue emergency alarm signals.

[0063] Furthermore, after determining the credibility level of PNT information based on the area of ​​the trusted radar map of the PNT system, the credibility level of PNT information can also be verified based on the system composition information of the PNT system.

[0064] In practical implementation, when verifying the trust level of PNT information based on the system composition information of the PNT system, the following situations may exist, but are not limited to:

[0065] The first scenario: If, based on the system composition information of the PNT system, it is determined that the PNT system includes a receiver unit, that is, the system composition of the PNT system is as follows: Figure 4aAs shown, if the PNT information trust level of the PNT system, determined by the area of ​​the trusted radar map of the PNT system, is level zero (L0), then the PNT information trust level verification of the PNT system is considered successful. That is, a level zero (L0) PNT system is a PNT system without trusted services, insensitive to potential untrusted situations, and does not actively defend against them. It is prone to user-end damage and hijacking events, and its system composition only includes a receiver unit for receiving PNT source information. Therefore, based on the system composition information of the PNT system, if the PNT information trust level determined by the area of ​​the trusted radar map of the PNT system is level zero (L0), then the PNT information trust level verification of the PNT system is considered successful; otherwise, the PNT information trust level verification of the PNT system is considered unsuccessful. In this case, the PNT information trust level of the PNT system can be determined to be level zero (L0) based on the system composition information of the PNT system.

[0066] The second scenario: If, based on the system composition information of the PNT system, it is determined that the PNT system includes a receiver unit, an anti-interference unit, and an authentication unit, that is, the system composition of the PNT system is as follows: Figure 4b As shown, when the PNT information trust level of the PNT system is determined to be primary (L1 level), the PNT information trust level verification of the PNT system is considered passed. That is, a primary (L1 level) PNT system is a PNT system with the lowest level of trusted service. By taking measures such as trusted authentication technology, the PNT system is triggered to identify spoofing attacks and issue warnings so that users can promptly detect anomalies and proactively stop obtaining PNT services. Its system composition includes a receiver unit, an anti-interference unit, and an authentication unit. The anti-interference unit is used to eliminate interference signals from the radio PNT source and consists of an anti-interference antenna and an anti-narrowband interference subunit. The authentication unit uses cryptographic technology to authenticate the interference-excluded signal to determine the integrity and authenticity of the signal and consists of a message authentication subunit and a spreading code authentication subunit. Based on this, when determining that the PNT system includes a receiver unit, an anti-interference unit, and an authentication unit based on the system composition information of the PNT system, if the PNT information credibility level of the PNT system determined by the area of ​​the credibility radar map of the PNT system is primary (L1 level), then the PNT information credibility level verification of the PNT system is deemed to have passed; otherwise, the PNT information credibility level verification of the PNT system is deemed to have failed. In this case, the PNT information credibility level of the PNT system can be determined to be primary (L1 level) based on the system composition information of the PNT system.

[0067] The third scenario: If, based on the system composition information of the PNT system, it is determined that the PNT system includes a receiver unit, an anti-interference unit, an authentication unit, and a verification unit, that is, the system composition of the PNT system is as follows: Figure 4cAs shown, when the PNT information credibility level of the PNT system is determined to be Level 2 (L2), the PNT information credibility level verification of the PNT system is considered passed. That is, a Level 2 (L2) PNT system is a PNT system with positioning services independent of GNSS. By taking certain measures to eliminate abnormal navigation sources and select other navigation sources to maintain PNT services, the impact of unreliable factors is reduced or eliminated, maintaining the safe operation of the PNT system. Its system composition includes the constituent units of the primary (L1) PNT system, and also has a verification unit. The verification unit includes a self-verification unit and a mutual verification unit. The self-verification unit is used to self-verify the output PNT information according to its category, similar to the concept of GNSS receiver integrity monitoring. It aims to perform self-verification through redundant information from PNT information sources of the same category, reflecting alarm capabilities. The mutual verification unit, based on self-verification, fully utilizes the advantages of multiple PNT information sources to achieve mutual verification between information sources of different categories, further improving the accuracy and objectivity of the verification, also reflecting alarm capabilities. Based on this, when determining that the PNT system includes a receiver unit, an anti-interference unit, and an authentication unit based on the system composition information of the PNT system, if the PNT information credibility level of the PNT system determined by the area of ​​the credibility radar map of the PNT system is primary (Level 2), then the PNT information credibility level verification of the PNT system is deemed to have passed; otherwise, the PNT information credibility level verification of the PNT system is deemed to have failed. In this case, the PNT information credibility level of the PNT system can be determined to be secondary (Level 2) based on the system composition information of the PNT system.

[0068] The fourth scenario: If, based on the system composition information of the PNT system, it is determined that the PNT system includes a receiver unit, an anti-interference unit, an authentication unit, a verification unit, an anomaly isolation and recovery unit, and a control and backup unit, then the system composition of the PNT system is as follows: Figure 4dAs shown, when the PNT information trust level of the PNT system is determined to be Level 3 (L3), the PNT information trust level verification of the PNT system is considered passed. That is, a Level 3 (L3) PNT system is a PNT system with trusted PNT services. Through multiple subsystems capable of independently providing PNT services, the robustness of the PNT system is improved, and its ability to cope with interference and deception is enhanced. This allows the PNT system to eliminate the impact of most untrusted factors on PNT services. Its system composition includes the constituent units of a Level 2 PNT system, and simultaneously has an anomaly isolation and recovery unit and a control and backup unit. The anomaly isolation and recovery unit is used to output control commands to a certain PNT information source based on the alarm information output by the self-verification unit and the mutual verification unit, reflecting its resilience. The control and backup unit, based on self-verification, fully utilizes the advantages of multiple PNT information sources to achieve mutual verification between different types of information sources, further improving the accuracy and objectivity of the verification, reflecting its alarm capability. Based on this, when determining that the PNT system includes a receiver unit, anti-interference unit, authentication unit, verification unit, anomaly isolation and recovery unit, and control and backup unit based on the system composition information of the PNT system, if the PNT information credibility level of the PNT system determined based on the area of ​​the PNT system's credibility radar map is level three (L3), then the PNT information credibility level verification of the PNT system is deemed to have passed; otherwise, the PNT information credibility level verification of the PNT system is deemed to have failed. In this case, the PNT information credibility level of the PNT system can be determined to be level three (L3) based on the system composition information of the PNT system.

[0069] Fifth scenario: If, based on the system composition information of the PNT system, it is determined that the PNT system includes a receiver unit, an anti-interference unit, an authentication unit, a verification unit, an anomaly isolation and recovery unit, a control and backup unit, and an information fusion processing unit, then the system composition of the PNT system is as follows: Figure 4eAs shown, when the PNT information credibility level of the PNT system is determined to be Level 4 (L4), the PNT information credibility level verification of the PNT system is considered passed. That is, a Level 4 (L4) PNT system is a PNT system with credible PNT service and adaptive adjustment service capable of identifying and eliminating the causes of untrusted factors and malicious deception sources, and issuing emergency alarm signals. It can identify the causes of untrusted factors, identify the location of malicious deception sources and issue emergency broadcast signals or quickly play integrity alarms, eliminating their impact on credible PNT service, and adaptively adjusting to eliminate all untrusted factors and provide credible PNT service. Its system composition includes the components of a three-level system and also has an information fusion processing unit. The information fusion processing unit is used to further select the best among available fusion information sources based on the cross-verification results, and dynamically adjust the degree of fusion to ensure that the fusion advantages of multiple PNT information sources are maximized while timely control of the impact of a certain erroneous information source on the overall output PNT information, demonstrating resilience. Based on this, when determining that the PNT system includes a receiver unit, anti-interference unit, authentication unit, verification unit, anomaly isolation and recovery unit, control and backup unit, and information fusion processing unit based on the system composition information of the PNT system, if the PNT information credibility level of the PNT system determined based on the area of ​​the PNT system's credibility radar map is level four (L4), then the PNT information credibility level verification of the PNT system is deemed to have passed; otherwise, the PNT information credibility level verification of the PNT system is deemed to have failed. In this case, the PNT information credibility level of the PNT system can be determined to be level four (L4) based on the system composition information of the PNT system.

[0070] This application obtains the index values ​​of various credibility evaluation indicators for different capability elements by hierarchically decomposing the service performance data of the PNT system. It also combines the graded intervals of the various credibility evaluation indicators for different capability elements with the use of credibility radar charts to determine the credibility level of PNT information. This can improve the accuracy and effectiveness of PNT information credibility assessment while achieving a complete and comprehensive PNT information credibility assessment.

[0071] Based on the above embodiments, this application also provides a PNT information credibility assessment device, see below. Figure 5 As shown, the PNT information credibility assessment device 500 provided in this application embodiment includes at least:

[0072] The indicator value determination unit 501 is used to determine the indicator values ​​of the PNT system under various credible evaluation indicators corresponding to different capability elements based on the service performance data of the PNT system to be evaluated.

[0073] The radar chart determination unit 502 is used to determine the credibility radar chart of the PNT system based on the index values ​​of each credibility evaluation index corresponding to different capability elements of the PNT system and by using the hierarchical range of each credibility evaluation index corresponding to different capability elements.

[0074] The credibility assessment unit 503 is used to determine the credibility level of the PNT information of the PNT system based on the area of ​​the credibility radar map of the PNT system.

[0075] In one possible implementation, when determining the index values ​​of the PNT system under various reliable evaluation indicators corresponding to different capability elements based on the service performance data of the PNT system to be evaluated, the index value determination unit 501 is specifically used for:

[0076] Acquire basic system segment capability data, environment segment security protection and error feedback capability data, and user segment error recovery capability data of the PNT system;

[0077] By analyzing the basic capability data of the system segment, the estimated index values ​​of the PNT system under the continuity index and the availability index corresponding to the basic capability elements are obtained.

[0078] The data on environmental security protection and error feedback capabilities were analyzed to obtain the estimated index values ​​of the PNT system under the anti-deception index and anti-interference index corresponding to the protection capability elements, as well as the estimated index values ​​of the PNT system under the integrity index corresponding to the alarm capability elements.

[0079] By analyzing the user segment error recovery capability data, the predicted index values ​​of the PNT system under the corresponding resilience index of the resilience capability elements are obtained.

[0080] In one possible implementation, when determining the credibility radar chart of the PNT system based on the index values ​​of each credibility evaluation index corresponding to different capability elements of the PNT system, and utilizing the hierarchical range of each credibility evaluation index corresponding to different capability elements, the radar chart determination unit 502 is specifically used for:

[0081] For each credible evaluation index corresponding to each capability element in the PNT system, the target grading interval where the index value is located is determined from each grading interval of the credible evaluation index corresponding to the capability element, and the target position of the index value in the target grading interval is determined based on the position interval of the target grading interval.

[0082] A reliable radar chart is obtained by connecting the target positions of each indicator value as vertices.

[0083] In one possible implementation, when determining the credibility level of PNT information based on the area of ​​the credibility radar map of the PNT system, the credibility assessment unit 503 is specifically used for:

[0084] Based on the correlation between area intervals and PNT information credibility levels, the PNT information credibility level associated with the area interval of the credible radar chart is determined as the PNT information credibility level of the PNT system.

[0085] or;

[0086] Based on the area of ​​the trusted radar chart and the area of ​​the full-level radar chart, the area ratio of the trusted radar chart relative to the full-level radar chart is determined. Based on the correlation between the ratio interval and the PNT information trust level, the PNT information trust level associated with the ratio interval where the area ratio of the trusted radar chart is located is determined as the PNT information trust level of the PNT system. Among them, the full-level radar chart is determined based on the full-level index value of each trust evaluation index corresponding to different capability elements.

[0087] In one possible implementation, when determining the PNT information credibility level of the PNT system based on the correlation between the proportion interval and the PNT information credibility level, the credibility assessment unit 503 is specifically used to:

[0088] If the area percentage of the trusted radar chart falls within the first percentage interval, then the trust level of the PNT information in the PNT system is determined to be level zero; where level zero indicates that there is no trusted service.

[0089] If the area proportion of the trusted radar chart falls within the second proportion interval, then the trust level of the PNT information in the PNT system is determined to be primary; where the second proportion interval is larger than the first proportion interval, primary indicates that it has the lowest level of trusted service.

[0090] If the area percentage of the credible radar image falls within the third percentage interval, then the credibility level of the PNT information of the PNT system is determined to be Level 2; where the third percentage interval is larger than the second percentage interval, Level 2 indicates that it has positioning services that do not rely on the Global Navigation Satellite System (GNSS).

[0091] If the area proportion of the trusted radar chart falls within the fourth proportion interval, then the trust level of the PNT information of the PNT system is determined to be level three; where the fourth proportion interval is larger than the third proportion interval, level three indicates that it has trusted PNT service.

[0092] If the area proportion of the trusted radar chart falls within the fifth proportion interval, then the trust level of the PNT information in the PNT system is determined to be level four. Among them, the fifth proportion interval is greater than the fourth proportion interval. Level four indicates that it has trusted PNT services and adaptive adjustment services that can identify and eliminate the causes of untrusted factors and malicious deception sources and issue emergency alarm signals.

[0093] In one possible implementation, the PNT information credibility assessment device 500 provided in this application embodiment further includes:

[0094] The credibility verification unit 504 is used to verify the credibility level of the PNT information of the PNT system based on the system composition information of the PNT system.

[0095] In one possible implementation, when verifying the trust level of PNT information based on the system composition information of the PNT system, the trust verification unit 504 is specifically used for:

[0096] If, based on the system composition information of the PNT system, it is determined that the PNT system includes a receiver unit, then when the PNT information reliability level of the PNT system is determined to be level zero, the PNT information reliability level verification of the PNT system is considered to have passed.

[0097] If, based on the system composition information of the PNT system, it is determined that the PNT system includes a receiver unit, an anti-interference unit, and an authentication unit, then when the PNT information trust level of the PNT system is determined to be primary, the PNT information trust level verification of the PNT system is deemed to have passed.

[0098] If, based on the system composition information of the PNT system, it is determined that the PNT system includes a receiver unit, an anti-interference unit, an authentication unit, and a verification unit, then when the PNT information trust level of the PNT system is determined to be level two, the PNT information trust level verification of the PNT system is deemed to have passed.

[0099] If, based on the system composition information of the PNT system, it is determined that the PNT system includes a receiver unit, an anti-interference unit, an authentication unit, a verification unit, an anomaly isolation and recovery unit, and a control and backup unit, then when the PNT information trust level of the PNT system is determined to be level three, the PNT information trust level verification of the PNT system is deemed to have passed.

[0100] If, based on the system composition information of the PNT system, it is determined that the PNT system includes a receiver unit, an anti-interference unit, an authentication unit, a verification unit, an anomaly isolation and recovery unit, a control and backup unit, and an information fusion processing unit, then when the PNT information trust level of the PNT system is determined to be level four, the PNT information trust level verification of the PNT system is deemed to have passed.

[0101] It should be noted that the principle of the PNT information credibility assessment device 500 provided in this application embodiment to solve the technical problem is similar to the PNT information credibility assessment method provided in this application embodiment. Therefore, the implementation of the PNT information credibility assessment device 500 provided in this application embodiment can refer to the implementation of the PNT information credibility assessment method provided in this application embodiment, and the repeated parts will not be described again.

[0102] After introducing the PNT information credibility assessment method and apparatus provided in the embodiments of this application, the electronic device provided in the embodiments of this application will be briefly introduced next.

[0103] See Figure 6 As shown, the electronic device 600 provided in this application embodiment includes at least a memory 602, a processor 601, and a computer program stored in the memory 602 and executable on the processor. When the processor 601 executes the computer program, it implements the PNT information credibility assessment method provided in this application embodiment.

[0104] The electronic device 600 provided in this application embodiment may further include a bus 603 connecting different components (including processor 601 and memory 602). The bus 603 represents one or more types of bus structures, including memory bus, peripheral bus, local area bus, etc.

[0105] Memory 602 may include readable media in the form of volatile memory, such as RAM (Random Access Memory) 6021 and / or cache memory 6022, and may further include ROM (Read Only Memory) 6023. Memory 602 may also include a program tool 6025 having a set (at least one) of program modules 6024, including but not limited to: operating subsystems, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0106] Electronic device 600 can also communicate with one or more external devices 604 (e.g., keyboard, remote control, etc.), and with one or more devices that enable user interaction with electronic device 600 (e.g., mobile phone, computer, etc.), and / or with any device that enables electronic device 600 to communicate with one or more other electronic devices (e.g., router, modem, etc.). This communication can be performed through I / O (Input / Output) interface 605. Furthermore, electronic device 600 can also communicate with one or more networks (e.g., LAN (Local Area Network), WAN (Wide Area Network), and / or public networks, such as the Internet) through network adapter 606. Figure 6 As shown, network adapter 606 communicates with other modules of electronic device 600 via bus 603. It should be understood that, although... Figure 6 As not shown in the diagram, other hardware and / or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (Redundant Arrays of Independent Disks) subsystems, tape drives, and data backup storage subsystems.

[0107] It should be noted that, Figure 6 The electronic device 600 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0108] Furthermore, embodiments of this application also provide a computer-readable storage medium storing computer instructions. When executed by a processor, these computer instructions implement the PNT information credibility assessment method provided in embodiments of this application. Specifically, the computer instructions can be built into or installed in the processor, so that the processor can implement the PNT information credibility assessment method provided in embodiments of this application by executing the built-in or installed computer instructions.

[0109] In addition, the PNT information credibility assessment method provided in this application embodiment can also be implemented as a program product, which includes program code. When the program code is run on a processor, it implements the PNT information credibility assessment method provided in this application embodiment.

[0110] The program product provided in this application embodiment can be any combination of one or more readable media, wherein the readable media can be a readable signal medium or a readable storage medium, and the readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination thereof. Specifically, more specific examples of readable storage media (a non-exhaustive list) include: electrical connections with one or more wires, portable disks, hard disks, RAM, ROM, EPROM (Erasable Programmable Read Only Memory), optical fibers, CD-ROM (Compact Disc Read-Only Memory), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0111] The program product provided in this application embodiment can be a CD-ROM and include program code, and can also run on a processor. However, the program product provided in this application embodiment is not limited thereto. In this application embodiment, the readable storage medium can be any tangible medium that contains or stores a program, which can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0112] It should be noted that although several units or sub-units of the device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided and embodied by multiple units.

[0113] Furthermore, although the operations of the method of this application are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0114] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0115] Obviously, those skilled in the art can make various modifications and variations to the embodiments of this application without departing from the spirit and scope of the embodiments of this application. Therefore, if these modifications and variations to the embodiments of this application fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

Claims

1. A method for evaluating the reliability of positioning, navigation, and timing (PNT) information, characterized in that, include: Based on the service performance data of the PNT system to be evaluated, determine the index values ​​of the PNT system under each reliable evaluation index corresponding to different capability elements. Based on the index values ​​of the PNT system under various credibility evaluation indicators corresponding to different capability elements, the credibility radar chart of the PNT system is determined by utilizing the hierarchical range of the various credibility evaluation indicators corresponding to different capability elements. The credibility level of the PNT information of the PNT system is determined based on the area of ​​the credible radar map of the PNT system. Based on the system composition information of the PNT system, the trust level of the PNT information of the PNT system is verified. Specifically, based on the system composition information of the PNT system, the reliability level of the PNT information of the PNT system is verified, including: If, based on the system composition information of the PNT system, it is determined that the PNT system includes a receiver unit, then if the reliability level of the PNT information of the PNT system is determined to be level zero, the reliability level verification of the PNT information of the PNT system is deemed to have passed; otherwise, the reliability level verification of the PNT information of the PNT system is deemed to have failed, and the reliability level of the PNT information of the PNT system is determined to be level zero. If, based on the system composition information of the PNT system, it is determined that the PNT system includes a receiver unit, an anti-interference unit, and an authentication unit, then if the PNT information trust level of the PNT system is determined to be primary, the PNT information trust level verification of the PNT system is deemed to have passed; otherwise, the PNT information trust level verification of the PNT system is deemed to have failed, and the PNT information trust level of the PNT system is determined to be primary. If, based on the system composition information of the PNT system, it is determined that the PNT system includes a receiver unit, an anti-interference unit, an authentication unit, and a verification unit, then if the PNT information trust level of the PNT system is determined to be level two, the PNT information trust level verification of the PNT system is deemed to have passed; otherwise, the PNT information trust level verification of the PNT system is deemed to have failed, and the PNT information trust level of the PNT system is determined to be level two. If, based on the system composition information of the PNT system, it is determined that the PNT system includes a receiver unit, an anti-interference unit, an authentication unit, a verification unit, an anomaly isolation and recovery unit, and a control and backup unit, then if the PNT information trust level of the PNT system is determined to be Level 3, the PNT information trust level verification of the PNT system is deemed to have passed; otherwise, the PNT information trust level verification of the PNT system is deemed to have failed, and the PNT information trust level of the PNT system is determined to be Level 3. If, based on the system composition information of the PNT system, it is determined that the PNT system includes a receiver unit, an anti-interference unit, an authentication unit, a verification unit, an anomaly isolation and recovery unit, a control and backup unit, and an information fusion processing unit, then if the PNT information trust level of the PNT system is determined to be level four, the PNT information trust level verification of the PNT system is deemed to have passed; otherwise, the PNT information trust level verification of the PNT system is deemed to have failed, and the PNT information trust level of the PNT system is determined to be level four.

2. The PNT information credibility assessment method as described in claim 1, characterized in that, Based on the service performance data of the PNT system to be evaluated, determine the index values ​​of the PNT system under various reliable evaluation indicators corresponding to different capability elements, including: Acquire the system segment basic capability data, environment segment security protection and error feedback capability data, and user segment error recovery capability data of the PNT system; The basic capability data of the system segment are analyzed to obtain the estimated index values ​​of the PNT system under the continuity index and the estimated index value under the availability index corresponding to the basic capability elements. The data on the security protection and error feedback capabilities of the environmental segment are analyzed to obtain the estimated index values ​​of the PNT system under the anti-deception index and the anti-interference index corresponding to the protection capability elements, as well as the estimated index values ​​of the PNT system under the integrity index corresponding to the alarm capability elements. By analyzing the user segment error recovery capability data, the estimated index values ​​of the PNT system under the resilience index corresponding to the resilience capability elements are obtained.

3. The PNT information credibility assessment method as described in claim 1, characterized in that, Based on the index values ​​of the PNT system under various credibility evaluation indicators corresponding to different capability elements, and using the grading intervals of the various credibility evaluation indicators corresponding to different capability elements, the credibility radar chart of the PNT system is determined, including: For the index value of the PNT system under each credibility evaluation index corresponding to each capability element, the target grading interval where the index value is located is determined from each grading interval of the credibility evaluation index corresponding to the capability element, and the target position of the index value in the target grading interval is determined based on the position interval of the target grading interval. The reliable radar map is obtained by connecting the target positions of each indicator value as vertices.

4. The PNT information credibility assessment method as described in claim 1, characterized in that, Based on the area of ​​the trusted radar map of the PNT system, the trust level of the PNT information of the PNT system is determined, including: Based on the correlation between area range and PNT information credibility level, the PNT information credibility level associated with the area range of the area of ​​the credible radar map is determined as the PNT information credibility level of the PNT system. or; Based on the area of ​​the trusted radar map and the area of ​​the full-level radar map, the area ratio of the trusted radar map relative to the full-level radar map is determined. Based on the correlation between the ratio interval and the PNT information trust level, the PNT information trust level associated with the ratio interval where the area ratio of the trusted radar map is located is determined as the PNT information trust level of the PNT system. The full-level radar map is determined based on the full-level index values ​​of each trust evaluation index corresponding to the different capability elements.

5. The PNT information credibility assessment method as described in claim 4, characterized in that, Based on the correlation between the proportion interval and the PNT information credibility level, the PNT information credibility level associated with the proportion interval where the area proportion of the credible radar map is located is determined as the PNT information credibility level of the PNT system, including: If the area percentage of the trusted radar chart falls within the first percentage interval, then the trust level of the PNT information of the PNT system is determined to be level zero; wherein, the level zero characterization does not have trusted services. If the area proportion of the trusted radar chart falls within the second proportion interval, then the PNT information trust level of the PNT system is determined to be primary; wherein, the second proportion interval is greater than the first proportion interval, and the primary characterization has the lowest level of trusted service. If the area proportion of the trusted radar image falls within the third proportion interval, then the trust level of the PNT information of the PNT system is determined to be level two; wherein, the third proportion interval is greater than the second proportion interval, and level two indicates that it has positioning services that do not rely on the Global Navigation Satellite System (GNSS). If the area proportion of the trusted radar map is located in the fourth proportion interval, then the trust level of the PNT information of the PNT system is determined to be level three; wherein, the fourth proportion interval is greater than the third proportion interval, and the level three indicates that it has trusted PNT service. If the area proportion of the trusted radar chart is in the fifth proportion interval, then the trust level of the PNT information of the PNT system is determined to be level four; wherein, the fifth proportion interval is greater than the fourth proportion interval, and the level four represents having trusted PNT service and adaptive adjustment service that identifies and eliminates the causes of untrustworthy factors and malicious deception sources and issues emergency alarm signals.

6. A device for evaluating the reliability of positioning, navigation, and timing (PNT) information, characterized in that, include: The indicator value determination unit is used to determine the indicator values ​​of the PNT system under various credible evaluation indicators corresponding to different capability elements based on the service performance data of the PNT system to be evaluated. The radar chart determination unit is used to determine the credibility radar chart of the PNT system based on the index values ​​of each credibility evaluation index corresponding to different capability elements of the PNT system and by using the hierarchical range of each credibility evaluation index corresponding to the different capability elements. A credibility assessment unit is used to determine the credibility level of the PNT information of the PNT system based on the area of ​​the credibility radar map of the PNT system. A trustworthiness verification unit is used to verify the trustworthiness level of the PNT information of the PNT system based on the system composition information of the PNT system. The reliability verification unit is configured to: if, based on the system composition information of the PNT system, it is determined that the PNT system includes a receiver unit, and the reliability level of the PNT information of the PNT system is determined to be level zero, then the reliability level verification of the PNT information of the PNT system passes; otherwise, the reliability level verification of the PNT information of the PNT system fails, and the reliability level of the PNT information of the PNT system is determined to be level zero; if, based on the system composition information of the PNT system, it is determined that the PNT system includes a receiver unit, an anti-interference unit, and an authentication unit, and the reliability level of the PNT information of the PNT system is determined to be level one, then the reliability level verification of the PNT information of the PNT system passes; otherwise, the reliability level verification of the PNT information of the PNT system fails, and the reliability level of the PNT information of the PNT system is determined to be level one; if, based on the system composition information of the PNT system, it is determined that the PNT system includes a receiver unit, an anti-interference unit, an authentication unit, and a verification unit, and the reliability level of the PNT information of the PNT system is determined to be level two, then the reliability level verification of the PNT information of the PNT system passes. If the PNT system fails the verification, it is considered to have passed. Otherwise, the PNT information trust level verification is deemed to have failed, and the PNT information trust level of the PNT system is determined to be Level 2. If, based on the system composition information of the PNT system, it is determined that the PNT system includes a receiver unit, an anti-interference unit, an authentication unit, a verification unit, an anomaly isolation and recovery unit, and a control and backup unit, then the PNT information trust level of the PNT system is determined to be Level 3, and the PNT information trust level verification of the PNT system is deemed to have passed. Otherwise, the PNT information trust level verification is deemed to have failed. The reliability level of the PNT information in the PNT system is determined to be Level 3. If, based on the system composition information of the PNT system, it is determined that the PNT system includes a receiver unit, an anti-interference unit, an authentication unit, a verification unit, an anomaly isolation and recovery unit, a control and backup unit, and an information fusion processing unit, then the reliability level of the PNT information in the PNT system is determined to be Level 4, and the reliability level verification of the PNT information in the PNT system is deemed to have passed. Otherwise, the reliability level verification of the PNT information in the PNT system is deemed to have failed, and the reliability level of the PNT information in the PNT system is determined to be Level 4.

7. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the positioning, navigation, timing (PNT) information reliability assessment method as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the positioning, navigation, and timing (PNT) information reliability assessment method as described in any one of claims 1-5.

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