A navigation safety effectiveness evaluation method based on model parameters

Abstract

The present application relates to a navigation safety effectiveness evaluation method based on model parameters. The method comprehensively considers navigation elements such as satellite model, user model, security threat model and environmental model, and realizes the modeling parameterization and equivalent simulation of navigation safety effectiveness evaluation by introducing visibility calculation, signal parameter matching, antenna aperture power calculation, equivalent carrier-to-noise ratio calculation, availability calculation, satellite navigation effectiveness calculation, carrier comprehensive navigation effectiveness calculation and carrier platform effectiveness evaluation. The modeling parameterization solves the problem of real-time navigation effectiveness evaluation and improves the efficiency of navigation effectiveness evaluation. The equivalent simulation solves the problem that navigation effectiveness evaluation cannot be traversed in measured scenarios. The present application establishes a navigation safety effectiveness evaluation process based on model parameters by modeling and parameterizing the elements of the entire navigation process, solving the problems of difficult traversal and poor real-time performance of comprehensive evaluation of navigation safety effectiveness in complex scenarios.

Description

Technical Field

[0001] The present application relates to the field of satellite navigation and simulation technology, and in particular to a navigation safety effectiveness evaluation method based on model parameters. Background Art

[0002] As the core and cornerstone of the precise unified space-time system, modern satellite navigation systems can provide high-precision, all-weather, large-scale, and multi-purpose positioning, navigation, and timing services for various objects on land, sea, air, and space. However, due to the low power of satellite navigation signals when they reach the ground and the openness of their signals, satellite navigation is vulnerable to electronic security threats. Therefore, it is particularly important to evaluate the navigation safety performance when using satellite navigation related equipment.

[0003] Traditional navigation safety effectiveness evaluation mostly uses actual measurement or signal layer simulation testing. However, the actual measurement scenarios cannot cover and traverse all application scenarios of navigation equipment. Although signal layer simulation testing can solve this problem well, the real-time performance of signal layer simulation is poor and cannot meet the needs of simulated navigation safety effectiveness evaluation under complex and changing multi-scenarios. Summary of the invention

[0004] Based on this, it is necessary to provide a navigation safety effectiveness evaluation method based on model parameters that can meet the complex and changing multi-scenarios in order to address the real-time and traversal issues of the above-mentioned navigation effectiveness evaluation.

[0005] A navigation safety effectiveness evaluation method based on model parameters, the method comprising:

[0006] The simulation builds and extracts parameters of satellite models, user models, security threat models, and environmental models;

[0007] The visibility of each satellite and security threat source is calculated according to the extracted model parameters, and the user-visible satellites and user-visible security threat sources are retained;

[0008] Obtain satellite signal parameters in a satellite model corresponding to user-visible satellites, and obtain security threat signal parameters in a security threat model corresponding to user-visible security threat sources, perform parameter matching on the satellite signal parameters and the security threat signal parameters, determine whether each user-visible security threat source has a security threat impact based on the parameter matching result, and retain the security threat sources that have a security threat impact;

[0009] Obtain satellite model parameters corresponding to user-visible satellites and security threat model parameters corresponding to security threat sources with security threat impacts, and calculate by inputting the satellite model parameters and the security threat model parameters into a channel transmission model constructed by simulation to obtain antenna aperture power of satellite signals corresponding to user-visible satellites and security threat signals corresponding to security threat sources with security threat impacts reaching user receiving antennas;

[0010] The equivalent carrier-to-noise ratio of the satellite signal corresponding to the user's visible satellite after passing through the user's receiving antenna is calculated based on the antenna aperture power value and incident direction angle of the satellite signal and the security threat signal and the user receiving antenna gain in the user model parameters;

[0011] The satellite signal availability is judged based on the equivalent carrier-to-noise ratio of the satellite signal corresponding to the user's visible satellite and the receiver performance parameters in the user model parameters, and the user's available satellites are retained;

[0012] The satellite navigation performance is calculated based on the positions of the satellites available to the user and the receiver performance parameters in the user model parameters to obtain the satellite navigation positioning error;

[0013] The comprehensive navigation effectiveness is calculated based on the satellite navigation positioning error and the user backup navigation performance parameters and carrier platform performance parameters in the user model parameters to obtain the comprehensive navigation positioning error. The operating effectiveness of the carrier platform is evaluated based on the comprehensive navigation positioning error to obtain the performance index of the carrier platform.

[0014] In one embodiment, the satellite model parameters include but are not limited to satellite position, satellite antenna beam parameters, satellite signal transmission frequency point bandwidth, satellite signal transmission power and satellite antenna gain; the user model includes but is not limited to the receiving antenna model, the receiving antenna pattern model and the signal reception model; the user model parameters include but are not limited to the user carrier shape parameters, the user carrier trajectory parameters, the user carrier attitude parameters, the user antenna beam configuration parameters, the user signal reception frequency point bandwidth, the user reception antenna gain, the receiver performance parameters, the user backup navigation performance parameters and the carrier platform performance parameters; the receiver performance parameters include but are not limited to the receiver capture and tracking threshold, the receiver position and the receiver measurement noise; the security threat model parameters include but are not limited to the security threat source position, the security threat carrier shape parameters, the security threat carrier trajectory parameters, the security threat carrier attitude parameters, the security threat antenna beam configuration parameters, the security threat signal transmission power, the security threat signal transmission frequency point bandwidth and the security threat source antenna gain; the environment model parameters include but are not limited to the terrain parameters and the building parameters.

[0015] In one embodiment, the visibility of each satellite and security threat source is calculated according to the extracted model parameters, and the user-visible satellites and user-visible security threat sources are retained, including:

[0016] According to the extracted satellite model parameters, user model parameters, security threat model parameters and environmental model parameters, and by comprehensively considering the carrier shape, terrain occlusion, building occlusion and beam coverage, the visibility of each satellite and security threat source is calculated, and the user-visible satellites and user-visible security threat sources are retained.

[0017] In one embodiment, obtaining satellite signal parameters in a satellite model corresponding to a user-visible satellite and obtaining security threat signal parameters in a security threat model corresponding to a user-visible security threat source, performing parameter matching on the satellite signal parameters and the security threat signal parameters, judging whether each user-visible security threat source has a security threat impact based on the parameter matching result, and retaining the security threat source having a security threat impact, includes:

[0018] Obtain the satellite signal transmission frequency point bandwidth in the satellite model corresponding to the user-visible satellite, and obtain the security threat signal transmission frequency point bandwidth in the security threat model corresponding to the user-visible security threat source, and determine whether the satellite signal transmission frequency point bandwidth and the security threat signal transmission frequency point bandwidth both intersect with the user signal receiving frequency point bandwidth in the user model parameters. If so, it means that the user receives the satellite signal and the security threat signal at the same time, and it is determined that the security threat source corresponding to the security threat signal has a security threat impact, and the security threat source with a security threat impact is retained; otherwise, it means that the user cannot receive the satellite signal and the security threat signal at the same time, and it is determined that the security threat source corresponding to the security threat signal has no security threat impact, and the security threat source corresponding to the security threat signal is not retained.

[0019] In one embodiment, the satellite model parameters and security threat model parameters for calculating the antenna aperture power of the channel transmission model constructed by the input simulation include but are not limited to the satellite position, satellite signal transmission power, satellite antenna gain, security threat source position, security threat signal transmission power and security threat source antenna gain; and the channel transmission model includes a free space loss model, an ionosphere model, a troposphere model, a ray tracing model and a transmitting antenna pattern model of the satellite and the security threat source.

[0020] In one embodiment, the equivalent carrier-to-noise ratio of the satellite signal corresponding to the user visible satellite after passing through the user receiving antenna is obtained by calculating according to the antenna aperture power value and the incident direction angle of the satellite signal and the security threat signal and the user receiving antenna gain in the user model parameter, including:

[0021] The calculation is performed based on the antenna aperture power value and incident direction angle of the satellite signal and the security threat signal and the user receiving antenna gain in the user model parameters, and by distinguishing the user receiving antenna type, the equivalent carrier-to-noise ratio of the satellite signal corresponding to the user's visible satellite after passing through the ordinary receiving antenna or array antenna is obtained; among which, the user receiving antenna gain includes the receiving gains at different angles calculated according to the receiving antenna pattern model in the user model.

[0022] In one embodiment, determining the satellite signal availability based on an equivalent carrier-to-noise ratio of a satellite signal corresponding to a satellite visible to a user and a receiver performance parameter in a user model parameter, and retaining the satellite available to the user, includes:

[0023] According to the receiver capture and tracking threshold in the user model parameters, it is determined whether the equivalent carrier-to-noise ratio of the satellite signal corresponding to the user's visible satellite is in the capture, tracking or unlocked state in the signal reception model of the user model. When in the tracking state, the satellite signal is determined to be available and the user's available satellite is retained; when in the capture or unlocked state, the satellite signal is determined to be unavailable.

[0024] In one embodiment, the satellite navigation performance calculation is performed based on the positions of the satellites available to the user and the receiver performance parameters in the user model parameters to obtain the satellite navigation positioning error, including:

[0025] The satellite navigation effectiveness is calculated based on the position of the user's available satellites, the receiver position in the user model parameters, and the receiver measurement noise, and the DOP value is calculated to obtain the satellite navigation positioning error.

[0026] In one embodiment, a comprehensive navigation performance calculation is performed based on the satellite navigation positioning error and the user backup navigation performance parameters and the carrier platform performance parameters in the user model parameters to obtain a comprehensive navigation positioning error, and the operation performance of the carrier platform is evaluated based on the comprehensive navigation positioning error to obtain the performance index of the carrier platform, including:

[0027] Based on the satellite navigation positioning error and the user backup navigation performance parameters and carrier platform performance parameters in the user model parameters, a comprehensive navigation effectiveness calculation is performed to obtain a comprehensive navigation positioning error; wherein the user backup navigation performance parameters include but are not limited to the drift error of inertial navigation and the handover accuracy of matching navigation, and the user backup navigation includes but is not limited to inertial navigation, matching navigation and odometer navigation; the carrier platform performance parameters include but are not limited to the position of the carrier platform, time transfer error and platform killing radius;

[0028] The operational performance of the carrier platform is evaluated according to the comprehensive navigation and positioning error to obtain the performance index of the carrier platform; wherein, the performance index of the carrier platform includes the hit probability, single-shot damage probability and effective kill quantity of the carrier platform; specifically, according to the transmission relationship between the comprehensive navigation and positioning error and the hit probability, the hit probability of the carrier platform is calculated, and based on the hit probability, the single-shot damage probability and effective kill quantity of the carrier platform are further calculated.

[0029] The above-mentioned navigation safety effectiveness evaluation method based on model parameters comprehensively considers navigation elements such as satellite model, user model, security threat model and environmental model. The modeled parameterized characterization solves the problem of real-time navigation effectiveness evaluation and improves the efficiency of navigation effectiveness evaluation. In addition, by introducing visibility calculation, signal parameter matching, antenna aperture power calculation, equivalent carrier-to-noise ratio calculation, availability calculation, satellite navigation effectiveness calculation, carrier comprehensive navigation effectiveness calculation and carrier platform effectiveness evaluation, the equivalent simulation of navigation safety effectiveness evaluation is realized. The equivalent simulation solves the problem that navigation effectiveness evaluation cannot be traversed in the measured scene. This application establishes a navigation safety effectiveness evaluation process for navigation equipment based on model parameters by modeling and parameterizing the elements of the entire navigation process, which solves the problem of difficult traversal and poor real-time performance of the comprehensive safety effectiveness evaluation of navigation user terminals in complex scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A process scenario diagram of a navigation safety effectiveness evaluation method based on model parameters in an embodiment;

[0031] Figure 2 The figure is a schematic diagram of the execution process of a navigation safety effectiveness evaluation method based on model parameters in one embodiment. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0033] In one embodiment, Figure 1 and Figure 2 As shown, a navigation safety effectiveness evaluation method based on model parameters is provided, comprising the following steps:

[0034] Step S1, simulation construction and extraction of parameters of satellite model, user model, security threat model and environment model.

[0035] in, Figure 2 1 is the satellite model, 2 is the user model, 3 is the security threat model, and 4 is the environment model.

[0036] Among them, satellite model parameters include but are not limited to satellite position, satellite antenna beam parameters, satellite signal transmission frequency bandwidth, satellite signal transmission power and satellite antenna gain; user model includes but is not limited to receiving antenna model, receiving antenna pattern model, signal reception model; user model parameters include but are not limited to user carrier shape parameters, user carrier trajectory parameters, user carrier attitude parameters, user antenna beam configuration parameters, user signal receiving frequency bandwidth, user receiving antenna gain, receiver performance parameters, user backup navigation performance parameters and carrier platform performance parameters; receiver performance parameters include but are not limited to receiver capture and tracking threshold, receiver position and receiver measurement noise; security threat model parameters include but are not limited to security threat source position, security threat carrier shape parameters, security threat carrier trajectory parameters, security threat carrier attitude parameters, security threat antenna beam configuration parameters, security threat signal transmission power, security threat signal transmission frequency bandwidth and security threat source antenna gain; environment model parameters include but are not limited to terrain parameters and building parameters.

[0037] Step S2: Calculate the visibility of each satellite and security threat source according to the extracted model parameters, and retain the user-visible satellites and user-visible security threat sources.

[0038] Specifically, step S2 includes: performing visibility calculation on each satellite and security threat source according to the extracted satellite model parameters, user model parameters, security threat model parameters and environmental model parameters, and by comprehensively considering the obstruction conditions affecting satellite visibility such as carrier shape, terrain obstruction, building obstruction and beam coverage, and retaining user-visible satellites and user-visible security threat sources.

[0039] Among them, the input parameters of visibility calculation include but are not limited to satellite position, satellite antenna beam parameters, user carrier shape parameters, user carrier trajectory parameters, user carrier attitude parameters, user antenna beam configuration parameters, security threat carrier shape parameters, security threat carrier trajectory parameters, security threat carrier attitude parameters, security threat antenna beam configuration parameters, terrain parameters and building parameters.

[0040] Step S3, obtaining satellite signal parameters in the satellite model corresponding to the user-visible satellite, and obtaining security threat signal parameters in the security threat model corresponding to the user-visible security threat source, performing parameter matching on the satellite signal parameters and the security threat signal parameters, judging whether each user-visible security threat source has a security threat impact based on the parameter matching result, and retaining the security threat sources that have a security threat impact.

[0041] Specifically, step S3 includes: obtaining the satellite signal transmission frequency point bandwidth in the satellite model corresponding to the user-visible satellite, and obtaining the security threat signal transmission frequency point bandwidth in the security threat model corresponding to the user-visible security threat source, and determining whether the satellite signal transmission frequency point bandwidth and the security threat signal transmission frequency point bandwidth both intersect with the user signal receiving frequency point bandwidth in the user model parameters; if so, it indicates that the user receives the satellite signal and the security threat signal at the same time, and determines that the security threat source corresponding to the security threat signal has a security threat impact, and retains the security threat source with a security threat impact; otherwise, it indicates that the user cannot receive the satellite signal and the security threat signal at the same time, and determines that the security threat source corresponding to the security threat signal has no security threat impact, and does not retain the security threat source corresponding to the security threat signal.

[0042] Among them, the input parameters of signal parameter matching include but are not limited to the satellite signal transmission frequency point bandwidth, the user signal reception frequency point bandwidth and the security threat signal transmission frequency point bandwidth.

[0043] Step S4, obtaining satellite model parameters corresponding to the satellite visible to the user and security threat model parameters corresponding to the security threat source with security threat impact, and inputting the satellite model parameters and the security threat model parameters into the channel transmission model constructed by simulation for calculation, to obtain the antenna aperture power of the satellite signal corresponding to the satellite visible to the user and the security threat signal corresponding to the security threat source with security threat impact reaching the user receiving antenna.

[0044] Specifically, step S4 includes: inputting the satellite model parameters and security threat model parameters of the channel transmission model constructed by simulation to calculate the antenna aperture power, including but not limited to the satellite position, satellite signal transmission power, satellite antenna gain, security threat source position, security threat signal transmission power and security threat source antenna gain; and the channel transmission model includes a free space loss model, an ionosphere model, a troposphere model, a ray tracing model and a transmitting antenna pattern model of the satellite and security threat source. Among them, the ionosphere model and the troposphere model take into account the influence of the ionosphere and troposphere on signal propagation, the ray tracing model takes into account the reflection and diffraction of the object on the signal, and the transmitting antenna pattern model of the satellite source and the security threat source can calculate the gain at different transmission angles.

[0045] Among them, the input parameters for antenna aperture power calculation include but are not limited to satellite position, satellite signal transmission power, satellite antenna gain, security threat source position, security threat signal transmission power and security threat source antenna gain.

[0046] Step S5, calculating according to the antenna aperture power value and incident direction angle of the satellite signal and the security threat signal and the user receiving antenna gain in the user model parameters, to obtain the equivalent carrier-to-noise ratio of the satellite signal corresponding to the user visible satellite after passing through the user receiving antenna.

[0047] Specifically, step S5 includes: calculating according to the antenna aperture power value and incident direction angle of the satellite signal and the security threat signal and the user receiving antenna gain in the user model parameters, and obtaining the equivalent carrier-to-noise ratio of the satellite signal corresponding to the user visible satellite after passing through the ordinary receiving antenna or the array antenna by distinguishing the user receiving antenna type; wherein the user receiving antenna gain includes the receiving gains at different angles calculated according to the receiving antenna pattern model in the user model.

[0048] The input parameters for calculating the equivalent carrier-to-noise ratio include but are not limited to the user receiving antenna gain and the antenna aperture power value and incident direction angle of the satellite signal and the security threat signal obtained in step S4.

[0049] Step S6, determining the availability of satellite signals based on the equivalent carrier-to-noise ratio of satellite signals corresponding to satellites visible to the user and receiver performance parameters in the user model parameters, and retaining satellites available to the user.

[0050] Specifically, step S6 includes: judging, according to the receiver capture and tracking threshold in the user model parameters, whether the equivalent carrier-to-noise ratio of the satellite signal corresponding to the user visible satellite is in a capture, tracking or unlocked state in the signal reception model of the user model; when in the tracking state, judging that the satellite signal is available and retaining the user available satellite; when in the capture or unlocked state, judging that the satellite signal is unavailable.

[0051] The input parameters for calculating the signal availability include but are not limited to the receiver acquisition tracking threshold in the receiver performance parameters and the equivalent carrier-to-noise ratio calculated in step S5.

[0052] Step S7, performing satellite navigation effectiveness calculation based on the positions of satellites available to the user and the receiver performance parameters in the user model parameters to obtain a satellite navigation positioning error.

[0053] Specifically, step S7 includes: calculating the satellite navigation performance based on the position of the user's available satellites and the receiver position and receiver measurement noise in the user model parameters, calculating the DOP (Dilution of Precision) value, and obtaining the satellite navigation positioning error according to the DOP value.

[0054] The input parameters involved in the calculation of satellite navigation effectiveness include but are not limited to the positions of the user-available satellites obtained in step S6, the receiver position in the receiver performance parameters, and the receiver measurement noise.

[0055] Step S8, calculate the comprehensive navigation effectiveness based on the satellite navigation positioning error and the user backup navigation performance parameters and carrier platform performance parameters in the user model parameters to obtain the comprehensive navigation positioning error, and evaluate the operating performance of the carrier platform based on the comprehensive navigation positioning error to obtain the performance index of the carrier platform.

[0056] Specifically, step S8 includes: performing comprehensive navigation performance calculation based on the satellite navigation positioning error and the user backup navigation performance parameters and carrier platform performance parameters in the user model parameters to obtain a comprehensive navigation positioning error; wherein the user backup navigation performance parameters include but are not limited to the drift error of inertial navigation and the handover accuracy of matching navigation, and the user backup navigation includes but is not limited to inertial navigation, matching navigation and odometer navigation; the carrier platform performance parameters include but are not limited to the position of the carrier platform, time transfer error and platform killing radius;

[0057] The operating performance of the carrier platform is evaluated based on the comprehensive navigation positioning error to obtain the performance index of the carrier platform; wherein, the performance index of the carrier platform includes the hit probability, single-shot damage probability and effective kill quantity of the carrier platform; specifically, the hit probability of the carrier platform is calculated based on the transmission relationship between the comprehensive navigation positioning error and the hit probability, and the single-shot damage probability and effective kill quantity of the carrier platform are further calculated based on the hit probability. Specifically, if the user's backup navigation is inertial navigation, the combination of satellite navigation and inertial navigation includes loose combination, tight combination and deep combination.

[0058] Among them, the input parameters of the comprehensive navigation performance evaluation of the carrier platform include but are not limited to user backup navigation performance parameters and carrier platform performance parameters.

[0059] It should be understood that although Figure 1 and Figure 2 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 and Figure 2 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed 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 part of the sub-steps or stages of other steps.

[0060] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, 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.

[0061] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A navigation safety effectiveness evaluation method based on model parameters, characterized in that: The method comprises: The simulation builds and extracts parameters of satellite models, user models, security threat models, and environmental models; The visibility of each satellite and security threat source is calculated according to the extracted model parameters, and the user-visible satellites and user-visible security threat sources are retained; Obtain satellite signal parameters in a satellite model corresponding to a user-visible satellite, and obtain security threat signal parameters in a security threat model corresponding to a user-visible security threat source, perform parameter matching on the satellite signal parameters and the security threat signal parameters, determine whether each user-visible security threat source has a security threat impact based on the parameter matching result, and retain the security threat sources that have a security threat impact; Obtain satellite model parameters corresponding to satellites visible to the user and security threat model parameters corresponding to security threat sources with security threat impacts, and calculate by inputting the satellite model parameters and the security threat model parameters into a channel transmission model constructed by simulation to obtain antenna aperture power of satellite signals corresponding to satellites visible to the user and security threat signals corresponding to security threat sources with security threat impacts reaching a user receiving antenna; The equivalent carrier-to-noise ratio of the satellite signal corresponding to the user's visible satellite after passing through the user's receiving antenna is calculated based on the antenna aperture power value and incident direction angle of the satellite signal and the security threat signal and the user receiving antenna gain in the user model parameters; Determine the availability of satellite signals based on the equivalent carrier-to-noise ratio of satellite signals corresponding to satellites visible to the user and receiver performance parameters in the user model parameters, and retain satellites available to the user; Calculating satellite navigation effectiveness based on the positions of satellites available to the user and receiver performance parameters in the user model parameters to obtain a satellite navigation positioning error; A comprehensive navigation performance calculation is performed based on the satellite navigation positioning error and the user backup navigation performance parameters and carrier platform performance parameters in the user model parameters to obtain a comprehensive navigation positioning error, and the operating performance of the carrier platform is evaluated based on the comprehensive navigation positioning error to obtain a performance index of the carrier platform.

2. The method according to claim 1, characterized in that Satellite model parameters include satellite position, satellite antenna beam parameters, satellite signal transmission frequency bandwidth, satellite signal transmission power and satellite antenna gain; user model includes receiving antenna model, receiving antenna pattern model and signal reception model; user model parameters include user carrier shape parameters, user carrier trajectory parameters, user carrier attitude parameters, user antenna beam configuration parameters, user signal reception frequency bandwidth, user receiving antenna gain, receiver performance parameters, user backup navigation performance parameters and carrier platform performance parameters; The receiver performance parameters include receiver acquisition tracking threshold, receiver position and receiver measurement noise; The security threat model parameters include the location of the security threat source, the shape parameters of the security threat carrier, the trajectory parameters of the security threat carrier, the posture parameters of the security threat carrier, the security threat antenna beam configuration parameters, the security threat signal transmission power, the security threat signal transmission frequency point bandwidth and the security threat source antenna gain; the environment model parameters include terrain parameters and building parameters.

3. The method according to claim 1, characterized in that: The visibility of each satellite and security threat source is calculated based on the extracted model parameters, and the user-visible satellites and user-visible security threat sources are retained, including: According to the extracted satellite model parameters, user model parameters, security threat model parameters and environmental model parameters, and by comprehensively considering the carrier shape, terrain occlusion, building occlusion and beam coverage, the visibility of each satellite and security threat source is calculated, and the user-visible satellites and user-visible security threat sources are retained.

4. The method according to claim 1, characterized in that Obtaining satellite signal parameters in a satellite model corresponding to a user-visible satellite, and obtaining security threat signal parameters in a security threat model corresponding to a user-visible security threat source, performing parameter matching on the satellite signal parameters and the security threat signal parameters, judging whether each user-visible security threat source has a security threat impact based on the parameter matching result, and retaining the security threat source with a security threat impact, including: Obtain the satellite signal transmission frequency point bandwidth in the satellite model corresponding to the user-visible satellite, and obtain the security threat signal transmission frequency point bandwidth in the security threat model corresponding to the user-visible security threat source, and determine whether the satellite signal transmission frequency point bandwidth and the security threat signal transmission frequency point bandwidth both intersect with the user signal reception frequency point bandwidth in the user model parameter. If so, it indicates that the user receives the satellite signal and the security threat signal at the same time, and it is determined that the security threat source corresponding to the security threat signal has a security threat impact, and the security threat source with a security threat impact is retained; otherwise, it indicates that the user cannot receive the satellite signal and the security threat signal at the same time, and it is determined that the security threat source corresponding to the security threat signal has no security threat impact, and the security threat source corresponding to the security threat signal is not retained.

5. The method according to claim 1, characterized in that The satellite model parameters and security threat model parameters for calculating the antenna aperture power of the channel transmission model constructed by the input simulation include satellite position, satellite signal transmission power, satellite antenna gain, security threat source position, security threat signal transmission power and security threat source antenna gain; and the channel transmission model includes a free space loss model, an ionosphere model, a troposphere model, a ray tracing model and a transmitting antenna pattern model of the satellite and the security threat source.

6. The method according to claim 1, characterized in that The equivalent carrier-to-noise ratio of the satellite signal corresponding to the user's visible satellite after passing through the user's receiving antenna is calculated based on the antenna aperture power value and incident direction angle of the satellite signal and the security threat signal and the user receiving antenna gain in the user model parameters, including: The calculation is performed based on the antenna aperture power value and incident direction angle of the satellite signal and the security threat signal and the user receiving antenna gain in the user model parameters, and by distinguishing the user receiving antenna type, the equivalent carrier-to-noise ratio of the satellite signal corresponding to the user visible satellite after passing through the ordinary receiving antenna or the array antenna is obtained; wherein the user receiving antenna gain includes the receiving gains at different angles calculated according to the receiving antenna pattern model in the user model.

7. The method according to claim 1, characterized in that The method further comprises: determining the availability of satellite signals based on an equivalent carrier-to-noise ratio of satellite signals corresponding to satellites visible to the user and receiver performance parameters in the user model parameters, and retaining satellites available to the user, including: According to the receiver capture and tracking threshold in the user model parameters, it is determined whether the equivalent carrier-to-noise ratio of the satellite signal corresponding to the user visible satellite is in a capture, tracking or unlocked state in the signal reception model of the user model; when in the tracking state, it is determined that the satellite signal is available and the user available satellite is retained; when in the capture or unlocked state, it is determined that the satellite signal is unavailable.

8. The method according to claim 1, characterized in that The satellite navigation performance calculation is performed based on the positions of the satellites available to the user and the receiver performance parameters in the user model parameters to obtain the satellite navigation positioning error, including: The satellite navigation effectiveness is calculated based on the position of the user's available satellites and the receiver position and receiver measurement noise in the user model parameters to obtain a DOP value, and the satellite navigation positioning error is obtained according to the DOP value calculation.

9. The method according to claim 1, characterized in that: Based on the satellite navigation positioning error and the user backup navigation performance parameters and the carrier platform performance parameters in the user model parameters, a comprehensive navigation effectiveness calculation is performed to obtain a comprehensive navigation positioning error, and based on the comprehensive navigation positioning error, the operation effectiveness of the carrier platform is evaluated to obtain the effectiveness index of the carrier platform, including: A comprehensive navigation performance calculation is performed based on the satellite navigation positioning error and the user backup navigation performance parameters and carrier platform performance parameters in the user model parameters to obtain a comprehensive navigation positioning error; wherein the user backup navigation performance parameters include the drift error of the inertial navigation and the handover accuracy of the matching navigation, and the user backup navigation includes inertial navigation, matching navigation and odometer navigation; the carrier platform performance parameters include the position of the carrier platform, the time transfer error and the platform killing radius; The operating performance of the carrier platform is evaluated according to the comprehensive navigation and positioning error to obtain the performance index of the carrier platform; wherein the performance index of the carrier platform includes the hit probability, single-shot damage probability and effective kill quantity of the carrier platform; specifically, according to the transmission relationship between the comprehensive navigation and positioning error and the hit probability, the hit probability of the carrier platform is calculated, and according to the hit probability, the single-shot damage probability and effective kill quantity of the carrier platform are further calculated.

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