High-precision GNSS positioning and navigation system and method for Beidou communication and navigation

Abstract

The present invention is applicable to the field of satellite navigation technology, and in particular to a high-precision GNSS positioning and navigation system and method for Beidou communication navigation, wherein the system comprises: a satellite signal receiving module, a processor module, a security module, an RTC module, a storage module, a PMIC module, and an external interface module. The high-precision GNSS positioning and navigation system for Beidou communication navigation provided by the present invention embeds a security module in the satellite positioning module, cooperates with corresponding algorithms, realizes real-time data security monitoring, can effectively enhance the security and reliability of satellite navigation positioning data, and further promotes the current process of digital security protection. Compared with the traditional solution, this solution is safer and smarter, so that the security and reliability of satellite navigation positioning is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the field of satellite navigation technology, and in particular relates to a high-precision GNSS positioning and navigation system and method for Beidou communication navigation. Background Art

[0002] In the field of Beidou satellite navigation and positioning, with the development of information technology and the deepening of network interconnection, the system security has been severely challenged, especially the problem of external data intrusion, which seriously threatens its stable operation. As the core support for key areas such as modern transportation and surveying and mapping, the security of the satellite navigation and positioning system is of vital importance.

[0003] At present, the GNSS satellite navigation and positioning system has a variety of data interaction modes with the external environment during operation, such as data transmission between the receiver and the ground control center, and data sharing between the navigation equipment and the associated network system. Although these interaction channels are convenient, they have become potential entry points for external data intrusion. Hacker attack methods in the network environment are becoming more and more complex and diverse, ranging from malicious code injection to advanced persistent threat (APT) attacks. In the civilian field, if the navigation data relied on by the intelligent transportation system is invaded, it may cause large-scale traffic chaos. In addition, with the integration of satellite navigation and positioning technology with emerging technologies such as the Internet of Things (IoT), the risk of external data intrusion faced by the system is further increased. As more devices are connected to the satellite navigation network, the attack surface continues to expand, and the existing security protection mechanism seems to be unable to cope with new intrusion methods.

[0004] Traditional GNSS satellite navigation and positioning systems have limited ability to detect external data intrusions. Most existing devices lack advanced intrusion detection algorithms and technologies and cannot identify complex attack patterns in a timely manner. For example, it is difficult to distinguish disguised malicious data traffic from normal data interactions, causing the attack behavior to remain undetected for a long time, posing a huge hidden danger to system security. At the same time, data encryption measures are insufficient. During the transmission process, some navigation and positioning systems only use simple encryption algorithms or the encryption strength is insufficient, making the data easy to crack. Especially when facing attackers with powerful computing power, weak encryption protection is useless, and key positioning data and system control information may be stolen or tampered with.

[0005] Currently, Beidou positioning lacks such GNSS positioning and navigation systems and equipment with high security, full frequency points and high precision. The present invention is mainly to solve this problem. Summary of the invention

[0006] The purpose of the present invention is to provide a high-precision GNSS positioning and navigation system for Beidou communication navigation, aiming to solve the problems of insufficient security and insufficient accuracy of the current Beidou positioning system.

[0007] The present invention is implemented as follows: a high-precision GNSS positioning and navigation system for Beidou communication navigation, the system comprising:

[0008] Satellite signal receiving module, used for receiving satellite signals, capturing signals, tracking signals and calculating navigation position information;

[0009] The processor module is used to share some of the computing tasks of the GNSS baseband in the satellite signal receiving module and to control the entire module as a whole;

[0010] The security module is used for security isolation on the execution software, and performs double security verification through security verification and random verification;

[0011] RTC module, used to provide real-time clock;

[0012] A storage module, used to store acquired data, execution programs and algorithm programs;

[0013] PMIC module, used to power the different components of the entire satellite signal receiving module;

[0014] The external interface module is used to provide an external interface for access by various mobile terminal devices.

[0015] Another object of the present invention is to provide a high-precision GNSS positioning and navigation method for Beidou communication and navigation, which is applied to the high-precision GNSS positioning and navigation system for Beidou communication and navigation as described above, and the method comprises:

[0016] Receive positioning instructions and receive satellite signals through a satellite signal receiving module;

[0017] Capture satellite signals according to preset algorithms;

[0018] Track the satellite based on the captured satellite signal;

[0019] After completing signal tracking, the observation model equation is constructed using pseudo-range information from multiple satellites to solve for mobile terminal information;

[0020] The mobile terminal information is corrected by using preset model correction parameters, and the corrected parameters are fed back to the mobile terminal.

[0021] Preferably, the step of receiving a positioning instruction and receiving a satellite signal through a satellite signal receiving module includes: when the mobile terminal issues a positioning instruction, the positioning instruction is connected to the satellite signal receiving module through an external interface module, the positioning instruction is input into the security module, and synchronized to the processor module, the processor module issues a pre-processing instruction, at which time the antenna is activated, the driver is loaded, and the frequency parameters are configured, after the positioning instruction is correctly identified by the security module, the positioning instruction is synchronized to the processor module, and the satellite signal receiving module enters the signal receiving stage.

[0022] Preferably, the step of capturing satellite signals according to a preset algorithm includes: after the satellite signal receiving module enters the signal receiving stage, the antenna starts searching for satellite signals according to the preset frequency band, the GNSS baseband and the processor process the received signals, search for satellite signals according to the continuously adjusted code phase and carrier frequency, and cooperate with the corresponding algorithm to capture stable satellite signals.

[0023] Preferably, the step of tracking the captured satellite signal includes: when the satellite signal is captured, entering the signal tracking phase, continuously tracking the changes of the satellite signal through the delay locked loop and the phase locked loop tracking loop to make corresponding adjustments.

[0024] Preferably, the position, speed and time information of the mobile device are corrected by using preset model correction parameters, and the corrected parameters are fed back to the mobile terminal. After the information of the mobile terminal is preliminarily calculated, correction is performed using the preset model correction parameters, and satellite signal tracking and mobile terminal information acquisition are continued until the mobile terminal turns off the positioning service.

[0025] Preferably, the mobile terminal information includes location, speed and time information.

[0026] The high-precision GNSS positioning and navigation system for Beidou communication and navigation provided by the present invention embeds a security module in the satellite positioning module and cooperates with the corresponding algorithm to realize real-time data security monitoring, which can effectively enhance the security and reliability of satellite navigation and positioning data, and further promote the current digital security protection process. Compared with the traditional solution, this solution is safer and smarter, so that the security and reliability of satellite navigation and positioning are guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 An architectural diagram of a high-precision GNSS positioning and navigation system for Beidou communication and navigation provided by an embodiment of the present invention;

[0028] Figure 2 A flowchart of a high-precision GNSS positioning and navigation method for Beidou communication navigation provided by an embodiment of the present invention;

[0029] Figure 3 A flowchart for performing security verification provided by an embodiment of the present invention.

[0030] Figure numerals: 1. Satellite; 2. Ground base station; 3. PMIC module; 4. Storage module; 5. RTC module; 6. Satellite signal receiving module; 7. Processor module; 8. Security module; 9. External interface module; 10. Mobile terminal. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention 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 invention and are not intended to limit the present invention.

[0032] like Figure 1 As shown, it is an architecture diagram of a high-precision GNSS positioning and navigation system for Beidou communication navigation provided by an embodiment of the present invention, and the system includes:

[0033] Satellite signal receiving module 6, used for receiving satellite signals, capturing signals, tracking signals and calculating navigation position information;

[0034] The processor module 7 is used to share some of the calculation tasks of the GNSS baseband in the satellite signal receiving module 6 and to control the entire module as a whole;

[0035] The security module 8 is used for security isolation on the execution software, and performs double security verification by means of security verification and random verification;

[0036] RTC module 5, used for providing a real-time clock;

[0037] Storage module 4, used to store acquired data, execution programs and algorithm programs;

[0038] The PMIC module 3 is used to supply power to the different components of the entire satellite signal receiving module 6;

[0039] The external interface module 9 is used to provide an external interface for various mobile terminals 10 to access.

[0040] In this embodiment, the system includes a satellite 1, a ground base station 2, a PMIC module 3, a storage module 4, an RTC module 5, a satellite signal receiving module 6, a processor module 7, a security module 8, an external interface module 9, and a mobile terminal 10.

[0041] The output port of the satellite 1 is connected to the input port of the ground base station 2 by a radio frequency link, and the output port of the satellite 1 is connected to the receiving antenna of the satellite signal receiving module 6 by a radio frequency link. The output port of the ground base station 2 is connected to the receiving antenna of the satellite signal receiving module 6 by a radio frequency link. The output port of the PMIC module 3 is electrically connected to the input port of the storage module 4, the output port of the PMIC module 3 is electrically connected to the input port of the RTC module 5, the output port of the PMIC module 3 is electrically connected to the input port of the satellite signal receiving module 6, the output port of the PMIC module 3 is electrically connected to the input port of the processor module 7, the output port of the PMIC module 3 is electrically connected to the input port of the security module 8, and the output port of the PMIC module 3 is electrically connected to the input port of the external interface module 9. The output port of the storage module 4 is signal-connected to the input port of the processor module 7. The output port of the RTC module 5 is signal-connected to the input port of the processor module 7. The output port of the satellite signal receiving module 6 is signal-connected to the input port of the processor module 7. The output port of the processor module 7 is signal-connected to the input port of the security module 8. The output port of the security module 8 is connected to the input port of the external interface module 9 by signal. The output port of the external interface module 9 is connected to the input port of the mobile terminal 10 by signal.

[0042] The PMIC module 3, storage module 4, processor module 7, security module 8 and external interface module 9 can realize data security protection of the satellite signal receiving module.

[0043] When external data needs to be accessed, the security module 8 and the processor module 7 will isolate and analyze the data, and will only execute the instructions after confirming that the instructions contained in the data are correct. When the system is started and passes the security check 1, the data storage area permission of the storage module 4 is opened. When the security check 1 passes, the corresponding instructions will be executed, and the algorithm program will start to load. The processor module 7 will write to the satellite signal receiving module 6 according to the preset parameters, and then start the signal reception, capture, tracking, pseudo-code ranging and algorithm correction process to obtain the positioning data. The data will be encrypted by the security module 8, and then a security check 2 will be performed when it is output. After passing the security check 2, the positioning data will be output to the mobile terminal through the external interface module 9.

[0044] like Figure 3As shown, after the system starts and passes the security check 1 for the first time, the security module 8 will take over the permission of the memory data storage area by random check. If the check passes, the permission of the memory data storage area will continue to be open, otherwise the permission of the memory data storage area will be closed. When the check fails, the corresponding result will be input into the security check 2. This input will cause the security check 2 to fail. The processor module 7 will lock the data in the memory, and then multiple security checks 2 will need to be performed. Random checks will also be performed synchronously. Passing the random check will open the memory permission. When multiple security checks 2 pass, the above series of operations after multiple security checks 2 pass will be performed. Otherwise, the security module 8 will enter the alarm mode.

[0045] Security check 2 adds a memory permission check on the basis of security check 1. The system will judge that the check has passed only when both are passed. After passing, the positioning data will be output to the mobile terminal 10 through the external interface module 9. If it fails once, the system will latch the location data and then perform multiple security checks 2. When the check passes, the memory permissions will be configured, and the positioning data will be output to the mobile terminal 10 through the external interface module 9.

[0046] When the security module performs security check 2 and the check fails, the security module 8 will start multiple check mechanisms. When multiple checks fail, the security module 8 will enter the alarm mode. In the alarm mode, the reception of satellite signals will be suspended immediately, and then the joint processor module 7 will destroy the historical data and corresponding algorithm programs in the storage module 4, and control the PMIC module 3 to power off the storage module 4.

[0047] like Figure 2 As shown, the present invention provides a high-precision GNSS positioning and navigation method for Beidou communication and navigation, which is applied to the high-precision GNSS positioning and navigation system for Beidou communication and navigation as described above, and the method includes:

[0048] Receive positioning instructions and receive satellite signals through the satellite signal receiving module 6;

[0049] Capture satellite signals according to preset algorithms;

[0050] Track the satellite based on the captured satellite signal;

[0051] After completing signal tracking, the observation model equation is constructed using pseudo-range information from multiple satellites to solve for mobile terminal information;

[0052] The mobile terminal information is corrected using preset model correction parameters, and the corrected parameters are fed back to the mobile terminal 10 .

[0053] The operator of the mobile terminal 10 sends a positioning start instruction (positioning instruction) through the mobile terminal 10. This instruction will be specially encoded and transmitted to the security module 8 through the external interface module 9 for identification and security verification. The transmission instruction is simultaneously sent to the processor module 7, and the satellite positioning module is pre-started. The processor module 7 will send the instruction to the storage module 4, the RTC module 5, and the satellite signal receiving module 6, and will preload the driver in the storage module 4 to drive the satellite signal receiving module 6 into the pre-start mode. After the security module 8 completes the verification, the decoded instruction will be transmitted to the processor module 7, and then the processor module 7 will send the satellite signal receiving instruction to the storage module 4, the RTC module 5, and the satellite signal receiving module 6 to start the satellite navigation positioning process.

[0054] When entering the satellite navigation positioning process, the antenna in the satellite signal receiving module 6 starts to search for satellite signals according to the preset frequency band and enters the signal capture stage. When the signal of the corresponding frequency band is captured, the signal is tracked by the corresponding algorithm. After tracking the signal, the received data is subjected to a series of pre-processing by the satellite signal receiving module 6 and stored in the storage module 4. Then, the processor module 7 performs pseudo-range measurement on the collected data through the built-in positioning algorithm, and then corrects the position information in combination with the position correction algorithm. The obtained data is then stored in the storage module 4. At the same time, the positioning data is input into the processor module 7 and the security module 8 for encryption processing. The security module 8 performs security verification. After the verification is passed, it is transmitted to the mobile terminal 10 through the external interface module 9. The mobile terminal 10 then obtains the corresponding position parameters according to the corresponding decryption method to complete the acquisition of complete satellite navigation positioning data.

[0055] In summary, the present invention isolates the data transmission between the satellite 1 and the mobile terminal 10 through the security module 8, and has a built-in data protection algorithm in the storage module 4. When data intrusion is detected, the relevant data and algorithm code in the storage module 4 will be directly deleted. Compared with the previous data protection method in which data protection is performed on the mobile terminal 10, this method is safer and further ensures the security of the user's location information.

[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A high-precision GNSS positioning and navigation system for Beidou communication navigation, characterized in that: The system comprises: A satellite signal receiving module (6) is used to receive satellite signals, capture signals, track signals and calculate navigation position information; A processor module (7) is used to share part of the calculation tasks of the GNSS baseband in the satellite signal receiving module (6) and to perform overall control of the entire module; A security module (8) is used for security isolation on the execution software, and performs double security verification by means of security verification and random verification; RTC module (5), used for providing a real-time clock; A storage module (4), used for storing acquired data, execution programs and algorithm programs; A PMIC module (3) is used to supply power to different components of the entire satellite signal receiving module (6); An external interface module (9) is used to provide an external interface for access by various types of mobile terminals (10); When external data needs to be accessed, the security module (8) and the processor module (7) will isolate and analyze the data, and will only execute the instructions after confirming that the instructions contained in the data are correct. When the system is started and passes the security check 1, the data storage area permission of the storage module (4) is opened. When the security check 1 is passed, the corresponding instructions are executed, and the algorithm program starts to be loaded. The processor module (7) will write the satellite signal receiving module (6) according to the preset parameters, and then start the signal reception, capture, tracking, pseudo code ranging and algorithm correction process to obtain positioning data. The data will be encrypted by the security module (8), and then a security check 2 will be performed when it is output. After passing the security check 2, the positioning data will be output to the mobile terminal through the external interface module (9).

2. A high-precision GNSS positioning and navigation method for Beidou communication navigation, characterized in that: Applied to the high-precision GNSS positioning and navigation system for Beidou communication and navigation as claimed in claim 1, the method comprises: receiving a positioning instruction and receiving a satellite signal through a satellite signal receiving module (6); Capture satellite signals according to preset algorithms; Track the satellite based on the captured satellite signal; After completing signal tracking, the observation model equation is constructed using pseudo-range information from multiple satellites to solve for mobile terminal information; The mobile terminal information is corrected using preset model correction parameters, and the corrected parameters are fed back to the mobile terminal (10).

3. The high-precision GNSS positioning and navigation method for Beidou communication navigation according to claim 2, characterized in that: The steps of receiving a positioning instruction and receiving a satellite signal through a satellite signal receiving module (6) include: when a mobile terminal (10) issues a positioning instruction, the positioning instruction is connected to the satellite signal receiving module (6) through an external interface module (9), the positioning instruction is input to the security module (8) and synchronized to the processor module (7), the processor module (7) issues a pre-processing instruction, at which time antenna activation, driver loading and frequency parameter configuration are executed, the positioning instruction is correctly identified by the security module (8), the positioning instruction is synchronized to the processor module (7), and the satellite signal receiving module enters a signal receiving phase.

4. The high-precision GNSS positioning and navigation method for Beidou communication navigation according to claim 2, characterized in that: The steps of capturing satellite signals according to a preset algorithm include: after the satellite signal receiving module enters the signal receiving stage, the antenna starts searching for satellite signals according to the preset frequency band, the GNSS baseband and processor will process the received signals, search for satellite signals based on the continuously adjusted code phase and carrier frequency, and cooperate with the corresponding algorithm to capture stable satellite signals.

5. The high-precision GNSS positioning and navigation method for Beidou communication navigation according to claim 2, characterized in that: The position, speed and time information of the mobile device are corrected by using preset model correction parameters, and the corrected parameters are fed back to the mobile terminal (10). After the information of the mobile terminal (10) is initially solved, the preset model correction parameters are used to correct the information, and the satellite signal is continuously tracked and the information of the mobile terminal (10) is obtained until the mobile terminal (10) turns off the positioning service.

6. The high-precision GNSS positioning and navigation method for Beidou communication navigation according to claim 2, characterized in that: Mobile terminal information includes location, speed and time information.

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