Satellite navigation interference signal detection method and system

Abstract

The present invention provides a satellite navigation interference signal detection method and system, which relate to the field of satellite navigation technology. The method comprises: pre-deploying air-based equipment and ground equipment, acquiring satellite navigation signals according to the ground equipment and performing signal processing; performing interference detection on the satellite navigation signals after signal processing according to a preset interference signal detection strategy, and determining the possible interference signal types of the satellite navigation signals; extracting signal features of the interference signals corresponding to the possible interference signal types according to a historical database and performing feature processing, constructing a satellite navigation interference signal detection model, and identifying the interference signals in the satellite navigation signals after signal processing; detecting and locating the interference signals, and visually displaying the interference signals and the detection and positioning results, thereby effectively realizing the detection of satellite navigation interference signals.

Description

Technical Field

[0001] The present invention relates to the field of satellite navigation technology, and in particular to a satellite navigation interference signal detection method and system. Background Art

[0002] With the rapid development of satellite navigation technology, satellite navigation technology has been widely used in various fields. Navigation functions are achieved by identifying satellite signals. Therefore, the quality of satellite signals and the quality of satellite signal identification are extremely important. However, there are many interference signals in the satellite communication environment, which seriously affect the quality of satellite signals and the quality of satellite signal identification.

[0003] Therefore, the present invention provides a satellite navigation interference signal detection method and system. Summary of the Invention

[0004] The present invention provides a satellite navigation interference signal detection method. The method comprises the following steps: pre-deploying air-based equipment and ground equipment, obtaining satellite navigation signals based on the ground equipment and performing signal processing; performing interference detection on the satellite navigation signals after signal processing according to a preset interference signal detection strategy, and determining possible interference signal types of the satellite navigation signals; extracting signal features of interference signals corresponding to the possible interference signal types according to a historical database and performing feature processing, constructing a satellite navigation interference signal detection model, and identifying interference signals in the satellite navigation signals after signal processing; detecting and locating the interference signals, and visually displaying the interference signals and detection and positioning results; and effectively realizing the detection of satellite navigation interference signals.

[0005] The present invention provides a method for detecting satellite navigation interference signals, comprising:

[0006] Step 1: Pre-deploy airborne and ground-based equipment, obtain satellite navigation signals based on the ground equipment, and perform signal processing;

[0007] Step 2: Perform interference detection on the processed satellite navigation signal according to a preset interference signal detection strategy to determine the possible interference signal type of the satellite navigation signal;

[0008] Step 3: Extract the signal features of the interference signal corresponding to the possible interference signal type based on the historical database and perform feature processing, build a satellite navigation interference signal detection model, and identify the interference signal in the satellite navigation signal after signal processing;

[0009] Step 4: Detect and locate the interference signal, and visualize the interference signal and the detection and positioning results.

[0010] According to a satellite navigation interference signal detection method provided by the present invention, air-based equipment and ground equipment are pre-deployed, and satellite navigation signals are obtained and processed according to the ground equipment, including:

[0011] Pre-deployment of air-based equipment and ground-based equipment, where air-based equipment includes interference detection equipment and carrier-based platforms, and ground-based equipment includes ground stations, ground backup remote controls, ground data acquisition boxes, antenna arrays, and communication link enhancement platforms;

[0012] Receive satellite navigation signals from air-based equipment and transmit them to ground equipment;

[0013] The satellite navigation signal is obtained according to the ground equipment and the satellite navigation signal is processed, wherein the signal processing includes: signal noise reduction processing, signal filtering processing and signal enhancement processing.

[0014] According to a satellite navigation interference signal detection method provided by the present invention, interference detection is performed on a satellite navigation signal after signal processing according to a preset interference signal detection strategy to determine the possible interference signal type of the satellite navigation signal, including:

[0015] Performing interference detection on the processed satellite navigation signal according to a preset interference signal detection strategy to determine the possible interference signal type of the satellite navigation signal, wherein the preset interference signal detection strategy includes: a suppression interference signal detection strategy and a decoy interference signal detection strategy;

[0016] performing spectrum analysis on the satellite navigation signal after signal processing, and when abnormal spectrum distribution is detected, determining the possible interference signal type of the satellite navigation signal, including suppressing the interference signal type;

[0017] detecting in real time the power change and carrier-to-noise ratio of the satellite navigation signal after signal processing, and determining the possible interference signal type of the satellite navigation signal, including the suppression interference signal type, when the power change or the decrease in the carrier-to-noise ratio exceeds a change threshold;

[0018] obtaining a current pseudorange value of the satellite navigation signal, determining a fluctuation range of the pseudorange value based on historical satellite navigation signals, and determining that the possible interference signal type of the satellite navigation signal includes a decoy interference signal type if the current pseudorange value exceeds the fluctuation range of the pseudorange value;

[0019] Signal comparison is performed on the satellite navigation signals after signal processing. When it is detected that one satellite navigation signal is not synchronized with other signals, it is determined that the possible interference signal type of the satellite navigation signal includes a decoy interference signal type.

[0020] According to a satellite navigation interference signal detection method provided by the present invention, before performing interference detection on the satellite navigation signal after signal processing according to a preset interference signal detection strategy, the method further includes:

[0021] According to the preset signal authenticity verification algorithm, the satellite navigation signal after signal processing is subjected to a signal authenticity test. When the signal authenticity test result shows that the frequency, phase, time or intensity of the satellite navigation signal are consistent, it is determined that the signal authenticity test of the satellite navigation signal after signal processing has passed and the signal is authentic.

[0022] According to a satellite navigation interference signal detection method provided by the present invention, signal features of interference signals corresponding to possible interference signal types are extracted from a historical database and feature processing is performed, a satellite navigation interference signal detection model is constructed, and interference signals in satellite navigation signals after signal processing are identified, including:

[0023] Extracting signal characteristics of interference signals corresponding to possible interference signal types based on a historical database;

[0024] When the number of possible interference signal types is 1, a signal model is constructed based on the signal characteristics and the satellite navigation signal, and continuous signal points of the number of satellite navigation signals are randomly extracted from the signal model and recorded as signal processing points;

[0025] According to the eigenvectors of the signal processing points, a signal processing matrix is ​​constructed and singular value decomposition is performed to obtain the singular values ​​and sort them in descending order;

[0026] According to the preset number of signal feature analysis and the results of successive sorting from large to small, singular values ​​are retained, the signal features corresponding to the retained singular values ​​are obtained, recorded as the identification signal features, and the remaining signal features are subjected to feature elimination processing;

[0027] When the number of possible interference signal types is not 1, the influence weight of the signal features on the identification of interference signals is obtained according to the historical database, and the signal features are subjected to feature weighted fusion processing to obtain the identification signal features;

[0028] When there is a historical database that cannot obtain the influence weight of the signal feature on the identification of the interference signal, the signal feature is divided according to the feature type of the signal feature, and the signal feature division results are learned respectively according to the preset convolutional neural network model. The signal features are classified and fused according to the feature type and the learning result to obtain the identification signal features, wherein the feature types of the signal features include: time domain feature type, frequency domain feature type and phase feature type;

[0029] Obtaining a fluctuation range of characteristic values ​​of the identification signal characteristics and determining characteristic value distribution data of the identification signal characteristics;

[0030] Construct a satellite navigation interference signal detection model based on the preset convolutional neural network model;

[0031] Obtaining identification feature data volume for identifying signal features, randomly selecting historical signal features of the identification feature data volume from a historical database, and constructing a test set and a training set based on the historical signal features to perform model training on a satellite navigation interference signal detection model;

[0032] The model training results are evaluated according to the model performance evaluation indicators, and the model performance score of the satellite navigation interference signal detection model is obtained by combining the eigenvalue distribution data of the identified signal characteristics. The model performance evaluation indicators include: model recognition precision evaluation indicators and model recognition recall evaluation indicators;

[0033] ;in, represents the model performance score of the satellite navigation interference signal detection model; Indicates the number of satellite navigation signals correctly identified by the satellite navigation interference signal detection model; Indicates the number of satellite navigation signals that are incorrectly identified by the satellite navigation interference signal detection model; Indicates the number of interference signals in the satellite navigation signal that are incorrectly identified by the satellite navigation interference signal detection model; Represents the model recognition accuracy evaluation index of the satellite navigation interference signal detection model; Represents the model recognition recall evaluation index of the satellite navigation interference signal detection model; Indicates the A feature value that identifies the signal characteristics; Indicates the fluctuation range of the characteristic value of the identification signal feature; Indicates the number of identified signal features;

[0034] When the model performance score of the satellite navigation interference signal detection model is not lower than the preset performance score, it is determined that the model training of the satellite navigation interference signal detection model is completed;

[0035] The identification signal features are input into the satellite navigation interference signal detection model after model training, and the interference signal in the satellite navigation signal after signal processing is identified.

[0036] A satellite navigation interference signal detection method provided by the present invention further includes:

[0037] When an interference signal is identified in the satellite navigation signal after signal processing, interference alarm data is synchronously generated according to the type of the interference signal;

[0038] The satellite navigation signal, interference signal and interference alarm data processed by the ground equipment after the identification signal is processed are backed up, and the air-based equipment is remotely controlled based on the interference signal.

[0039] According to a satellite navigation interference signal detection method provided by the present invention, the interference signal is detected and located, and the interference signal and the detection and positioning results are visually displayed and processed, including:

[0040] Detect and locate the interference signal according to the preset interference detection and positioning strategy, and obtain the interference signal strength and interference signal source location of the interference signal, wherein the preset interference detection and positioning strategy includes: signal strength measurement strategy, time difference positioning strategy, multi-antenna array positioning strategy and beamforming positioning strategy;

[0041] The interference signal and detection and positioning results are visualized and displayed.

[0042] The present invention provides a satellite navigation interference signal detection system, comprising:

[0043] Deployment processing module, used to pre-deploy airborne equipment and ground equipment, obtain satellite navigation signals based on the ground equipment and perform signal processing;

[0044] An interference detection module is used to perform interference detection on the satellite navigation signal after signal processing according to a preset interference signal detection strategy to determine the possible interference signal type of the satellite navigation signal;

[0045] The interference identification module is used to extract the signal characteristics of the interference signal corresponding to the possible interference signal type based on the historical database and perform feature processing, build a satellite navigation interference signal detection model, and identify the interference signal in the satellite navigation signal after signal processing;

[0046] The positioning visualization module is used to detect and locate interference signals and visualize the interference signals and detection and positioning results.

[0047] Compared with the prior art, the present invention has the following advantages:

[0048] By pre-deploying airborne and ground-based equipment, satellite navigation signals are acquired and processed based on the ground equipment; interference detection is performed on the processed satellite navigation signals according to a preset interference signal detection strategy to determine the possible interference signal types of the satellite navigation signals; signal features corresponding to the possible interference signal types are extracted from a historical database and feature processing is performed to construct a satellite navigation interference signal detection model to identify interference signals in the processed satellite navigation signals; interference signals are detected and located, and the interference signals and detection and positioning results are visualized and displayed; thus, the detection of satellite navigation interference signals is effectively achieved.

[0049] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0050] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0052] Figure 1 1 is a flow chart of a method for detecting satellite navigation interference signals provided by an embodiment of the present invention;

[0053] Figure 2 The present invention provides a schematic structural diagram of a satellite navigation interference signal detection system. DETAILED DESCRIPTION

[0054] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0055] Example 1:

[0056] The embodiment of the present invention provides a method for detecting satellite navigation interference signals. Figure 1 As shown, including:

[0057] Step 1: Pre-deploy airborne and ground-based equipment, obtain satellite navigation signals based on the ground equipment, and perform signal processing;

[0058] Step 2: Perform interference detection on the processed satellite navigation signal according to a preset interference signal detection strategy to determine the possible interference signal type of the satellite navigation signal;

[0059] Step 3: Extract the signal features of the interference signal corresponding to the possible interference signal type based on the historical database and perform feature processing, build a satellite navigation interference signal detection model, and identify the interference signal in the satellite navigation signal after signal processing;

[0060] Step 4: Detect and locate the interference signal, and visualize the interference signal and the detection and positioning results.

[0061] In this embodiment, the air-based equipment includes: interference detection equipment and carrier-based platform, and the ground-based equipment includes: ground station, ground backup remote control, ground data acquisition box, antenna matrix and communication link enhancement platform.

[0062] In this embodiment, the satellite navigation signal refers to a navigation signal, including a correct navigation signal and an interference signal.

[0063] In this embodiment, the signal processing includes signal noise reduction processing, signal filtering processing, and signal enhancement processing.

[0064] In this embodiment, the preset interference signal detection strategy refers to a strategy for detecting interference signals in satellite navigation signals.

[0065] In this embodiment, interference detection refers to detecting an interference signal.

[0066] In this embodiment, the possible interference signal type refers to the possible type of interference signal in the satellite navigation signal.

[0067] In this embodiment, the satellite navigation interference signal detection model refers to a model used to detect interference signals.

[0068] In this embodiment, the interference signal refers to a signal that interferes with the satellite navigation signal.

[0069] In this embodiment, detecting and locating refers to detecting the interference signal strength of the interference signal and locating the interference signal source.

[0070] The working principle and beneficial effects of the above technical solution are: by pre-deploying air-based equipment and ground equipment, satellite navigation signals are obtained and signal processing is performed according to the ground equipment; interference detection is performed on the satellite navigation signals after signal processing according to a preset interference signal detection strategy, and the possible interference signal types of the satellite navigation signals are determined; signal characteristics of the interference signals corresponding to the possible interference signal types are extracted according to the historical database and feature processing is performed, a satellite navigation interference signal detection model is constructed, and interference signals in the satellite navigation signals after signal processing are identified; interference signals are detected and located, and the interference signals and detection and positioning results are visualized and displayed; the detection of satellite navigation interference signals is effectively realized.

[0071] Example 2:

[0072] An embodiment of the present invention provides a method for detecting satellite navigation interference signals, which pre-deploys airborne equipment and ground equipment, obtains satellite navigation signals based on the ground equipment, and performs signal processing, including:

[0073] Pre-deployment of air-based equipment and ground-based equipment, where air-based equipment includes interference detection equipment and carrier-based platforms, and ground-based equipment includes ground stations, ground backup remote controls, ground data acquisition boxes, antenna arrays, and communication link enhancement platforms;

[0074] Receive satellite navigation signals from air-based equipment and transmit them to ground equipment;

[0075] The satellite navigation signal is obtained according to the ground equipment and the satellite navigation signal is processed, wherein the signal processing includes: signal noise reduction processing, signal filtering processing and signal enhancement processing.

[0076] In this embodiment, the air-based equipment refers to equipment used to simulate illegal drones, used to generate interference signals and detect interference signals, specifically including interference detection equipment and a carrier-based platform; wherein the interference detection equipment is used to detect interference signals, and the carrier-based platform is used to carry drone data transmission and image transmission modules, used to simulate the generation of interference signals and realize signal transmission.

[0077] In this embodiment, the ground equipment refers to equipment used to receive and transmit satellite navigation signals from air-based equipment and perform signal processing, including a ground station, a ground backup remote control, a ground data acquisition box, an antenna matrix, and a communication link enhancement platform. The ground station is used to receive satellite navigation signals from air-based equipment, the ground backup remote control is used to remotely control the air-based equipment based on the interference signal, the ground data acquisition box is used to collect satellite navigation signals, the antenna matrix is ​​used to locate the signal source, and the communication link enhancement platform is used to perform signal enhancement processing on the satellite navigation signal.

[0078] The working principle and beneficial effects of the above technical solution are: by pre-deploying air-based equipment and ground equipment, satellite navigation signals are obtained and processed according to the ground equipment, laying the signal processing foundation for subsequent detection of satellite navigation interference signals.

[0079] Example 3:

[0080] An embodiment of the present invention provides a satellite navigation interference signal detection method, which performs interference detection on a processed satellite navigation signal according to a preset interference signal detection strategy to determine the possible interference signal type of the satellite navigation signal, including:

[0081] Performing interference detection on the processed satellite navigation signal according to a preset interference signal detection strategy to determine the possible interference signal type of the satellite navigation signal, wherein the preset interference signal detection strategy includes: a suppression interference signal detection strategy and a decoy interference signal detection strategy;

[0082] performing spectrum analysis on the satellite navigation signal after signal processing, and when abnormal spectrum distribution is detected, determining the possible interference signal type of the satellite navigation signal, including suppressing the interference signal type;

[0083] detecting in real time the power change and carrier-to-noise ratio of the satellite navigation signal after signal processing, and determining the possible interference signal type of the satellite navigation signal, including the suppression interference signal type, when the power change or the decrease in the carrier-to-noise ratio exceeds a change threshold;

[0084] obtaining a current pseudorange value of the satellite navigation signal, determining a fluctuation range of the pseudorange value based on historical satellite navigation signals, and determining that the possible interference signal type of the satellite navigation signal includes a decoy interference signal type if the current pseudorange value exceeds the fluctuation range of the pseudorange value;

[0085] Signal comparison is performed on the satellite navigation signals after signal processing. When it is detected that one satellite navigation signal is not synchronized with other signals, it is determined that the possible interference signal type of the satellite navigation signal includes a decoy interference signal type.

[0086] In this embodiment, the preset interference signal detection strategy refers to a strategy for detecting interference signals in satellite navigation signals. The preset interference signal detection strategy includes a suppression interference signal detection strategy and a decoy interference signal detection strategy.

[0087] In this embodiment, the possible interference signal types refer to possible types of interference signals in the satellite navigation signal. For example, the satellite navigation signal a1 may include a b1 type interference signal and a b2 type interference signal.

[0088] In this embodiment, suppressing interference refers to a method of implementing interference by injecting an interference signal; decoy interference refers to a method of implementing interference by duplicating a satellite navigation signal.

[0089] In this embodiment, performing spectrum analysis on the processed satellite navigation signal refers to a technique of decomposing the processed satellite navigation signal into simple signals for analysis and processing, for example, decomposing the satellite navigation signal into the sum of multiple simple signals of different frequencies.

[0090] In this embodiment, when an abnormal spectrum distribution is detected, for example, the frequency c1 of the satellite navigation signal is not in the spectrum distribution, the frequency c1 is an abnormal spectrum distribution.

[0091] In this embodiment, the carrier-to-noise ratio refers to data used to represent the relationship between a carrier and carrier noise.

[0092] In this embodiment, the change threshold refers to a threshold of power change or carrier-to-noise ratio decrease determined based on historical data. When the power change or carrier-to-noise ratio decrease does not exceed the change threshold, it is determined that the satellite navigation signal may not contain a suppressed interference signal; when the power change or carrier-to-noise ratio decrease exceeds the change threshold, it is determined that the satellite navigation signal contains a suppressed interference signal.

[0093] In this embodiment, the current pseudo-range value of the satellite navigation signal refers to the distance value between the satellite navigation signal sent by the air-based device and the satellite navigation signal received by the ground device in the current period.

[0094] In this embodiment, the pseudorange value fluctuation range refers to a normal fluctuation range of the pseudorange value determined based on historical satellite navigation signals.

[0095] In this embodiment, signal comparison refers to comparing satellite navigation signal transmission and reception time periods.

[0096] The working principle and beneficial effects of the above technical solution are: by performing interference detection on the satellite navigation signal after signal processing according to a preset interference signal detection strategy, the possible interference signal type of the satellite navigation signal is determined, thereby improving the detection quality and efficiency of subsequent satellite navigation interference signal detection.

[0097] Example 4:

[0098] An embodiment of the present invention provides a satellite navigation interference signal detection method, which, before performing interference detection on a satellite navigation signal that has undergone signal processing according to a preset interference signal detection strategy, further includes:

[0099] According to the preset signal authenticity verification algorithm, the satellite navigation signal after signal processing is subjected to a signal authenticity test. When the signal authenticity test result shows that the frequency, phase, time or intensity of the satellite navigation signal are consistent, it is determined that the signal authenticity test of the satellite navigation signal after signal processing has passed and the signal is authentic.

[0100] In this embodiment, the preset signal authenticity verification algorithm refers to an algorithm for performing signal authenticity verification on the satellite navigation signal after signal processing.

[0101] In this embodiment, when the signal authenticity test result shows that the frequency, phase, time or intensity of the satellite navigation signal are consistent, that is, one of the consistency is met, then the signal authenticity test of the satellite navigation signal after the signal processing is determined to be qualified and the signal is authentic. For example, if the frequency of the satellite navigation signal is consistent, then the satellite navigation signal is determined to be authentic.

[0102] The working principle and beneficial effect of the above technical solution are: by performing signal authenticity verification on the satellite navigation signal after signal processing, the signal quality of the satellite navigation interference signal is ensured.

[0103] Example 5:

[0104] An embodiment of the present invention provides a satellite navigation interference signal detection method, which extracts signal features corresponding to possible interference signal types from a historical database and performs feature processing, constructs a satellite navigation interference signal detection model, and identifies interference signals in satellite navigation signals after signal processing, including:

[0105] Extracting signal characteristics of interference signals corresponding to possible interference signal types based on a historical database;

[0106] When the number of possible interference signal types is 1, a signal model is constructed based on the signal characteristics and the satellite navigation signal, and continuous signal points of the number of satellite navigation signals are randomly extracted from the signal model and recorded as signal processing points;

[0107] According to the eigenvectors of the signal processing points, a signal processing matrix is ​​constructed and singular value decomposition is performed to obtain the singular values ​​and sort them in descending order;

[0108] According to the preset number of signal feature analysis and the results of successive sorting from large to small, singular values ​​are retained, the signal features corresponding to the retained singular values ​​are obtained, recorded as the identification signal features, and the remaining signal features are subjected to feature elimination processing;

[0109] When the number of possible interference signal types is not 1, the influence weight of the signal features on the identification of interference signals is obtained according to the historical database, and the signal features are subjected to feature weighted fusion processing to obtain the identification signal features;

[0110] When there is a historical database that cannot obtain the influence weight of the signal feature on the identification of the interference signal, the signal feature is divided according to the feature type of the signal feature, and the signal feature division results are learned respectively according to the preset convolutional neural network model. The signal features are classified and fused according to the feature type and the learning result to obtain the identification signal features, wherein the feature types of the signal features include: time domain feature type, frequency domain feature type and phase feature type;

[0111] Obtaining a fluctuation range of characteristic values ​​of the identification signal characteristics and determining characteristic value distribution data of the identification signal characteristics;

[0112] Construct a satellite navigation interference signal detection model based on the preset convolutional neural network model;

[0113] Obtaining identification feature data volume for identifying signal features, randomly selecting historical signal features of the identification feature data volume from a historical database, and constructing a test set and a training set based on the historical signal features to perform model training on a satellite navigation interference signal detection model;

[0114] The model training results are evaluated according to the model performance evaluation indicators, and the model performance score of the satellite navigation interference signal detection model is obtained by combining the eigenvalue distribution data of the identified signal characteristics. The model performance evaluation indicators include: model recognition precision evaluation indicators and model recognition recall evaluation indicators;

[0115] ;in, represents the model performance score of the satellite navigation interference signal detection model; Indicates the number of satellite navigation signals correctly identified by the satellite navigation interference signal detection model; Indicates the number of satellite navigation signals that are incorrectly identified by the satellite navigation interference signal detection model; Indicates the number of interference signals in the satellite navigation signal that are incorrectly identified by the satellite navigation interference signal detection model; Represents the model recognition accuracy evaluation index of the satellite navigation interference signal detection model; Represents the model recognition recall evaluation index of the satellite navigation interference signal detection model; Indicates the A feature value that identifies the signal characteristics; Indicates the fluctuation range of the characteristic value of the identification signal feature; Indicates the number of identified signal features;

[0116] When the model performance score of the satellite navigation interference signal detection model is not lower than the preset performance score, it is determined that the model training of the satellite navigation interference signal detection model is completed;

[0117] The identification signal features are input into the satellite navigation interference signal detection model after model training, and the interference signal in the satellite navigation signal after signal processing is identified.

[0118] In this embodiment, when the number of possible interference signal types is 1, for example, the possible interference signal types only include the suppressed interference signal type.

[0119] In this embodiment, a signal model is constructed based on the signal characteristics and the satellite navigation signal, wherein the signal model refers to a model for representing the satellite navigation signal, and is used to represent the signal characteristics of the satellite navigation signal, such as frequency and amplitude.

[0120] In this embodiment, the signal processing points refer to a number of consecutive signal points of satellite navigation signals randomly extracted from the signal model, wherein the number of consecutive signal points of satellite navigation signals is extracted to ensure signal processing efficiency and signal processing quality.

[0121] In this embodiment, the signal processing matrix refers to a matrix constructed according to the eigenvectors of the signal processing points, and is used to represent the signal processing points.

[0122] In this embodiment, constructing a signal processing matrix according to the eigenvectors of the signal processing points and performing singular value decomposition refers to a strategy for analyzing the eigenvalues ​​and eigenvectors of the signal processing matrix.

[0123] In this embodiment, the singular value refers to a value obtained by performing singular value decomposition on the signal processing matrix, and is used to represent the signal processing matrix.

[0124] In this embodiment, the preset signal feature analysis number refers to the number of signal features required for analyzing signal features. For example, the preset signal feature analysis number a1 means that a1 signal features are required for subsequent satellite navigation interference signal detection.

[0125] In this embodiment, singular values ​​are retained according to a preset number of signal feature analyses and the results are sorted in descending order. For example, the first a1 singular values ​​are retained.

[0126] In this embodiment, the decay speed of the singular values ​​from large to small is particularly fast. Therefore, retaining the first a1 singular values ​​can approximately represent the signal processing matrix, thereby improving the signal processing efficiency.

[0127] In this embodiment, identifying signal features refers to the signal features used for subsequent satellite navigation interference signal detection, such as retaining signal features corresponding to singular values, signal features obtained by performing feature weighted fusion processing on signal features, and signal features obtained by performing feature classification fusion processing on signal features.

[0128] In this embodiment, when the number of possible interference signal types is not 1, that is, there are multiple types of interference signals in the satellite navigation signal.

[0129] In this embodiment, performing feature weighted fusion processing on signal features refers to performing comprehensive weighted fusion processing on each signal feature to accurately represent the signal features. For example, each signal feature of multiple satellite navigation signals is weightedly fused to obtain identification signal features.

[0130] In this embodiment, when there is a historical database that cannot obtain the influence weight of the signal feature on the identification of the interference signal, it is impossible to accurately represent the signal feature based on the historical data.

[0131] In this embodiment, the feature types of the signal features include: a time domain feature type, a frequency domain feature type, and a phase feature type.

[0132] In this embodiment, the signal feature classification results include, for example, time domain signal feature classification results, frequency domain signal feature classification results, and phase signal feature classification results.

[0133] In this embodiment, the signal feature division results are learned separately according to a preset convolutional neural network model to accurately identify the signal features.

[0134] In this embodiment, feature classification fusion processing refers to processing based on feature type and learning results, which is used to obtain recognition signal features, wherein the learning results refer to the recognition results of various signal features by a preset convolutional neural network model, including: time domain learning results, frequency domain learning results, and phase learning results; feature classification fusion processing, for example, splicing the time domain learning results, frequency domain learning results, and phase learning results and performing feature fusion to obtain recognition signal features.

[0135] In this embodiment, the characteristic value fluctuation range refers to the variation range of the characteristic value of the identification signal.

[0136] In this embodiment, the characteristic value distribution data refers to the distribution of the identification signal characteristics in the satellite navigation signal.

[0137] In this embodiment, the satellite navigation interference signal detection model refers to a model constructed according to a preset convolutional neural network model for detecting interference signals in satellite navigation signals.

[0138] In this embodiment, the amount of identification feature data refers to the amount of data identifying the signal feature, for example, the amount of identification feature data d1 identifying the signal feature.

[0139] In this embodiment, historical signal features with a certain amount of identification feature data are randomly selected from the historical database for subsequent model training to ensure the model training effect and avoid poor training effect caused by insufficient or excessive historical signal feature data.

[0140] In this embodiment, the historical signal feature refers to a signal feature of a quantity of identification feature data randomly selected from a historical database.

[0141] In this embodiment, the training set refers to a set used to perform model training on the satellite navigation interference signal detection model; the test set refers to a set used to perform model testing on the satellite navigation interference signal detection model, and is used to determine the model training result.

[0142] In this embodiment, the model performance evaluation index refers to an index used to accurately evaluate the performance of the model, including: a model recognition precision evaluation index and a model recognition recall evaluation index.

[0143] In this embodiment, the model performance score of the satellite navigation interference signal detection model refers to a performance score determined based on the model performance evaluation index and the eigenvalue distribution data of the identification signal characteristics, and is used to accurately represent the model performance of the satellite navigation interference signal detection model.

[0144] In this embodiment, the preset performance score refers to the score value required to determine whether the satellite navigation interference signal detection model training is complete.

[0145] In this embodiment, the interference signal refers to a signal that interferes with the satellite navigation signal.

[0146] The working principle and beneficial effects of the above technical solution are: by extracting the signal characteristics of the interference signal corresponding to the possible interference signal type based on the historical database and performing feature processing, a satellite navigation interference signal detection model is constructed, and the interference signal in the satellite navigation signal after signal processing is identified, thereby effectively realizing the detection of satellite navigation interference signals.

[0147] Example 6:

[0148] An embodiment of the present invention provides a method for detecting satellite navigation interference signals, further comprising:

[0149] When an interference signal is identified in the satellite navigation signal after signal processing, interference alarm data is synchronously generated according to the type of the interference signal;

[0150] The satellite navigation signal, interference signal and interference alarm data processed by the ground equipment after the identification signal is processed are backed up, and the air-based equipment is remotely controlled based on the interference signal.

[0151] In this embodiment, the interference alarm data refers to alarm data generated synchronously with the interference signal, and is used to indicate that an interference signal in the satellite navigation signal is detected.

[0152] In this embodiment, the satellite navigation signal, interference signal and interference alarm data after the identification signal processing is completed by the ground equipment are backed up to facilitate subsequent data analysis, data recovery, etc.

[0153] In this embodiment, the air-based equipment is remotely controlled based on the interference signal to implement navigation operations after the interference signal is detected, such as adjusting the flight altitude or adjusting the flight speed.

[0154] The working principle and beneficial effects of the above technical solution are: by synchronously generating interference alarm data, backup processing and remote control processing, it is conducive to reasonably targeting interference signals, thereby ensuring the quality of satellite navigation signals.

[0155] Example 7:

[0156] An embodiment of the present invention provides a method for detecting satellite navigation interference signals, detecting and locating interference signals, and visually displaying the interference signals and detection and positioning results, including:

[0157] Detect and locate the interference signal according to the preset interference detection and positioning strategy, and obtain the interference signal strength and interference signal source location of the interference signal, wherein the preset interference detection and positioning strategy includes: signal strength measurement strategy, time difference positioning strategy, multi-antenna array positioning strategy and beamforming positioning strategy;

[0158] The interference signal and detection and positioning results are visualized and displayed.

[0159] In this embodiment, the preset interference detection and positioning strategy refers to a strategy for detecting the interference signal strength of an interference signal and locating the interference signal source.

[0160] In this embodiment, the interference signal and the detection and positioning results are visually displayed. For example, the interference signal a1, the interference signal strength b1, and the interference signal source position c1 are visually displayed.

[0161] The working principle and beneficial effects of the above technical solution are: by detecting and locating the interference signal, the interference signal and the detection and positioning results are visualized and displayed, which is beneficial for users to process the satellite navigation interference signal.

[0162] Example 8:

[0163] The embodiment of the present invention provides a method for detecting satellite navigation interference signals. Figure 2 As shown, including:

[0164] Deployment processing module, used to pre-deploy airborne equipment and ground equipment, obtain satellite navigation signals based on the ground equipment and perform signal processing;

[0165] An interference detection module is used to perform interference detection on the satellite navigation signal after signal processing according to a preset interference signal detection strategy to determine the possible interference signal type of the satellite navigation signal;

[0166] The interference identification module is used to extract the signal characteristics of the interference signal corresponding to the possible interference signal type based on the historical database and perform feature processing, build a satellite navigation interference signal detection model, and identify the interference signal in the satellite navigation signal after signal processing;

[0167] The positioning visualization module is used to detect and locate interference signals and visualize the interference signals and detection and positioning results.

[0168] The working principle and beneficial effects of the above technical solution are: by pre-deploying air-based equipment and ground equipment, satellite navigation signals are obtained and signal processing is performed according to the ground equipment; interference detection is performed on the satellite navigation signals after signal processing according to a preset interference signal detection strategy, and the possible interference signal types of the satellite navigation signals are determined; signal characteristics of the interference signals corresponding to the possible interference signal types are extracted according to the historical database and feature processing is performed, a satellite navigation interference signal detection model is constructed, and interference signals in the satellite navigation signals after signal processing are identified; interference signals are detected and located, and the interference signals and detection and positioning results are visualized and displayed; the detection of satellite navigation interference signals is effectively realized.

[0169] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for detecting satellite navigation interference signals, characterized in that: include: Step 1: Pre-deploy airborne and ground-based equipment, obtain satellite navigation signals based on the ground equipment, and perform signal processing; Step 2: Perform interference detection on the processed satellite navigation signal according to a preset interference signal detection strategy to determine the possible interference signal type of the satellite navigation signal; Step 3: Extract the signal features of the interference signal corresponding to the possible interference signal type based on the historical database and perform feature processing, build a satellite navigation interference signal detection model, and identify the interference signal in the satellite navigation signal after signal processing; Step 4: Detect and locate the interference signal, and visualize the interference signal and detection and positioning results; Wherein, step 3 includes: Extracting signal characteristics of interference signals corresponding to possible interference signal types based on a historical database; When the number of possible interference signal types is 1, a signal model is constructed based on the signal characteristics and the satellite navigation signal, and continuous signal points of the number of satellite navigation signals are randomly extracted from the signal model and recorded as signal processing points; According to the eigenvectors of the signal processing points, a signal processing matrix is ​​constructed and singular value decomposition is performed to obtain the singular values ​​and sort them in descending order; According to the preset number of signal feature analysis and the results of successive sorting from large to small, singular values ​​are retained, the signal features corresponding to the retained singular values ​​are obtained, recorded as the identification signal features, and the remaining signal features are subjected to feature elimination processing; When the number of possible interference signal types is not 1, the influence weight of the signal features on the identification of interference signals is obtained according to the historical database, and the signal features are subjected to feature weighted fusion processing to obtain the identification signal features; When there is a historical database that cannot obtain the influence weight of the signal feature on the identification of the interference signal, the signal feature is divided according to the feature type of the signal feature, and the signal feature division results are learned respectively according to the preset convolutional neural network model. The signal features are classified and fused according to the feature type and the learning result to obtain the identification signal features, wherein the feature types of the signal features include: time domain feature type, frequency domain feature type and phase feature type; Obtaining a fluctuation range of characteristic values ​​of the identification signal characteristics and determining characteristic value distribution data of the identification signal characteristics; Construct a satellite navigation interference signal detection model based on the preset convolutional neural network model; Obtaining identification feature data volume for identifying signal features, randomly selecting historical signal features of the identification feature data volume from a historical database, and constructing a test set and a training set based on the historical signal features to perform model training on a satellite navigation interference signal detection model; The model training results are evaluated according to the model performance evaluation indicators, and the model performance score of the satellite navigation interference signal detection model is obtained by combining the eigenvalue distribution data of the identified signal characteristics. The model performance evaluation indicators include: model recognition precision evaluation indicators and model recognition recall evaluation indicators; ;in, represents the model performance score of the satellite navigation interference signal detection model; Indicates the number of satellite navigation signals correctly identified by the satellite navigation interference signal detection model; Indicates the number of satellite navigation signals that are incorrectly identified by the satellite navigation interference signal detection model; Indicates the number of interference signals in the satellite navigation signal that are incorrectly identified by the satellite navigation interference signal detection model; Represents the model recognition accuracy evaluation index of the satellite navigation interference signal detection model; Represents the model recognition recall evaluation index of the satellite navigation interference signal detection model; Indicates the A feature value that identifies the signal characteristics; Indicates the fluctuation range of the characteristic value of the identification signal feature; Indicates the number of identification signal features; When the model performance score of the satellite navigation interference signal detection model is not lower than the preset performance score, it is determined that the model training of the satellite navigation interference signal detection model is completed; The identification signal features are input into the satellite navigation interference signal detection model after model training, and the interference signal in the satellite navigation signal after signal processing is identified.

2. The method for detecting satellite navigation interference signals according to claim 1, wherein: Pre-deploy airborne and ground-based equipment, acquire satellite navigation signals and perform signal processing based on the ground-based equipment, including: Pre-deploy air-based equipment and ground-based equipment. Air-based equipment includes interference detection equipment and carrier-based platforms. Ground-based equipment includes ground stations, ground backup remote controls, ground data acquisition boxes, antenna matrices, and communication link enhancement platforms. The carrier-based platform specifically refers to a platform used to carry UAV data and image transmission modules, simulate interference signals, and implement signal transmission. Receive satellite navigation signals from air-based equipment and transmit them to ground equipment; The satellite navigation signal is obtained according to the ground equipment and the satellite navigation signal is processed, wherein the signal processing includes: signal noise reduction processing, signal filtering processing and signal enhancement processing.

3. The method for detecting satellite navigation interference signals according to claim 1, wherein: Perform interference detection on the processed satellite navigation signal according to the preset interference signal detection strategy to determine the possible interference signal types of the satellite navigation signal, including: Performing interference detection on the processed satellite navigation signal according to a preset interference signal detection strategy to determine the possible interference signal type of the satellite navigation signal, wherein the preset interference signal detection strategy includes: a suppression interference signal detection strategy and a decoy interference signal detection strategy; performing spectrum analysis on the satellite navigation signal after signal processing, and when abnormal spectrum distribution is detected, determining the possible interference signal type of the satellite navigation signal, including suppressing the interference signal type; detecting in real time the power change and carrier-to-noise ratio of the satellite navigation signal after signal processing, and determining the possible interference signal type of the satellite navigation signal, including the suppression interference signal type, when the power change or the decrease in the carrier-to-noise ratio exceeds a change threshold; obtaining a current pseudorange value of the satellite navigation signal, determining a fluctuation range of the pseudorange value based on historical satellite navigation signals, and determining that the possible interference signal type of the satellite navigation signal includes a decoy interference signal type if the current pseudorange value exceeds the fluctuation range of the pseudorange value; Signal comparison is performed on the satellite navigation signals after signal processing. When it is detected that one satellite navigation signal is not synchronized with other signals, it is determined that the possible interference signal type of the satellite navigation signal includes a decoy interference signal type.

4. The method for detecting satellite navigation interference signals according to claim 1, wherein: Before performing interference detection on the satellite navigation signal after signal processing according to the preset interference signal detection strategy, the method further includes: According to the preset signal authenticity verification algorithm, the satellite navigation signal after signal processing is subjected to a signal authenticity test. When the signal authenticity test result shows that the frequency, phase, time or intensity of the satellite navigation signal are consistent, it is determined that the signal authenticity test of the satellite navigation signal after signal processing has passed and the signal is authentic.

5. The method for detecting satellite navigation interference signals according to claim 1, wherein: Also includes: When an interference signal is identified in the satellite navigation signal after signal processing, interference alarm data is synchronously generated according to the type of the interference signal; The satellite navigation signal, interference signal and interference alarm data processed by the ground equipment after the identification signal is processed are backed up, and the air-based equipment is remotely controlled based on the interference signal.

6. The method for detecting satellite navigation interference signals according to claim 1, wherein: Detect and locate interference signals, and visualize the interference signals and detection and positioning results, including: Detect and locate the interference signal according to the preset interference detection and positioning strategy, and obtain the interference signal strength and interference signal source location of the interference signal, wherein the preset interference detection and positioning strategy includes: signal strength measurement strategy, time difference positioning strategy, multi-antenna array positioning strategy and beamforming positioning strategy; The interference signal and detection and positioning results are visualized and displayed.

7. A satellite navigation interference signal detection system, characterized in that: include: Deployment processing module, used to pre-deploy airborne equipment and ground equipment, obtain satellite navigation signals based on the ground equipment and perform signal processing; An interference detection module is used to perform interference detection on the satellite navigation signal after signal processing according to a preset interference signal detection strategy to determine the possible interference signal type of the satellite navigation signal; The interference identification module is used to extract the signal characteristics of the interference signal corresponding to the possible interference signal type based on the historical database and perform feature processing, build a satellite navigation interference signal detection model, and identify the interference signal in the satellite navigation signal after signal processing; Positioning visualization module, used to detect and locate interference signals, and visualize the interference signals and detection and positioning results; The interference identification module is used to: Extracting signal characteristics of interference signals corresponding to possible interference signal types based on a historical database; When the number of possible interference signal types is 1, a signal model is constructed based on the signal characteristics and the satellite navigation signal, and continuous signal points of the number of satellite navigation signals are randomly extracted from the signal model and recorded as signal processing points; According to the eigenvectors of the signal processing points, a signal processing matrix is ​​constructed and singular value decomposition is performed to obtain the singular values ​​and sort them in descending order; According to the preset number of signal feature analysis and the results of successive sorting from large to small, singular values ​​are retained, the signal features corresponding to the retained singular values ​​are obtained, recorded as the identification signal features, and the remaining signal features are subjected to feature elimination processing; When the number of possible interference signal types is not 1, the influence weight of the signal features on the identification of interference signals is obtained according to the historical database, and the signal features are subjected to feature weighted fusion processing to obtain the identification signal features; When there is a historical database that cannot obtain the influence weight of the signal feature on the identification of the interference signal, the signal feature is divided according to the feature type of the signal feature, and the signal feature division results are learned respectively according to the preset convolutional neural network model. The signal features are classified and fused according to the feature type and the learning result to obtain the identification signal features, wherein the feature types of the signal features include: time domain feature type, frequency domain feature type and phase feature type; Obtaining a fluctuation range of characteristic values ​​of the identification signal characteristics and determining characteristic value distribution data of the identification signal characteristics; Construct a satellite navigation interference signal detection model based on the preset convolutional neural network model; Obtaining identification feature data volume for identifying signal features, randomly selecting historical signal features of the identification feature data volume from a historical database, and constructing a test set and a training set based on the historical signal features to perform model training on a satellite navigation interference signal detection model; The model training results are evaluated according to the model performance evaluation indicators, and the model performance score of the satellite navigation interference signal detection model is obtained by combining the eigenvalue distribution data of the identified signal characteristics. The model performance evaluation indicators include: model recognition precision evaluation indicators and model recognition recall evaluation indicators; ;in, represents the model performance score of the satellite navigation interference signal detection model; Indicates the number of satellite navigation signals correctly identified by the satellite navigation interference signal detection model; Indicates the number of satellite navigation signals that are incorrectly identified by the satellite navigation interference signal detection model; Indicates the number of interference signals in the satellite navigation signal that are incorrectly identified by the satellite navigation interference signal detection model; Represents the model recognition accuracy evaluation index of the satellite navigation interference signal detection model; Represents the model recognition recall evaluation index of the satellite navigation interference signal detection model; Indicates the A feature value that identifies the signal characteristics; Indicates the fluctuation range of the characteristic value of the identification signal feature; Indicates the number of identification signal features; When the model performance score of the satellite navigation interference signal detection model is not lower than the preset performance score, it is determined that the model training of the satellite navigation interference signal detection model is completed; The identification signal features are input into the satellite navigation interference signal detection model after model training, and the interference signal in the satellite navigation signal after signal processing is identified.

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