Anti-deception-interference positioning method based on multi-frequency-point positioning consistency

Abstract

The invention provides an anti-deception-interference positioning method based on multi-frequency-point positioning consistency. The method comprises the following steps: receiving satellite signals of respective corresponding frequency points in a space by receiving antennas of three different frequency points; the radio frequency module obtains three intermediate frequency signals; the positioning calculation module obtains three positioning results; the control module obtains a consistency detection result corresponding to each observed quantity in the positioning result of each frequency point; and under the condition that the positioning results of the three frequency points are consistent, determining that the three frequency points do not have interference, and obtaining a final positioning result. Under the condition that the positioning results of two frequency points are consistent and the positioning result of the other frequency point is inconsistent, determining that the frequency points with inconsistent positioning results have interference and the frequency points with consistent positioning results do not have interference, and obtaining a final positioning result; and under the condition that the positioning results of the three frequency points are inconsistent, determining that at least two frequency points have interference, and not generating a final positioning result.

Description

Technical Field

[0001] The present invention relates to the field of satellite navigation anti-interference technology, and in particular to an anti-deception interference positioning method based on multi-frequency point positioning consistency. Background Art

[0002] As satellite navigation systems are increasingly used, their security has gradually become a concern for users. In recent years, deceptive interference has been a common method of jamming satellite navigation receivers. With the development of modern navigation warfare technology, the means of deceiving satellite navigation have become increasingly complex. The characteristic parameters of deceptive signals are very similar to those of real signals, making them concealed and difficult to detect. From a signal level, deceptive signals may cause the satellite receiver code tracking loop to lock on the correlation peak of the deceptive interference; from the perspective of positioning results, deceptive interference may cause the satellite receiver's positioning results to be incorrect and produce instantaneous jumps, affecting the use of satellite receivers.

[0003] At present, traditional receiver autonomous integrity monitoring (RAIM) can no longer effectively deal with this problem. At the same time, in the actual use of satellite receivers, there are situations where the reference coordinates and speed of the satellite receiver itself are unknown or unmeasurable. In this case, it is impossible to determine whether the satellite receiver is deceived by the positioning and speed measurement accuracy, and whether the positioning result is reliable. Summary of the invention

[0004] The present invention provides an anti-deception interference positioning method based on multi-frequency point positioning consistency, which can solve the technical problem that the existing anti-deception interference positioning method cannot meet the current needs.

[0005] The present invention provides an anti-spoofing interference positioning method based on multi-frequency point positioning consistency, the method comprising:

[0006] The three receiving antennas with different frequencies receive satellite signals with corresponding frequencies in space and input them into the RF module;

[0007] The RF module down-converts the three satellite signals respectively to obtain three intermediate frequency signals, which are then input into the positioning solution module.

[0008] The positioning solution module performs positioning solution on the three intermediate frequency signals respectively, obtains three positioning results, and inputs them into the control module, wherein each positioning result includes six observation quantities, namely, the X, Y, Z axis position and X, Y, Z axis speed of the satellite receiver;

[0009] The control module obtains the variance of each observation in the positioning result of each frequency point respectively; and performs consistency detection based on the variance of each observation in the positioning result of each frequency point to obtain the consistency detection result corresponding to each observation in the positioning result of each frequency point;

[0010] Determine whether the consistency detection result corresponding to each observation value in the positioning result of each frequency point within the preset time period is greater than the preset threshold value; if the consistency detection result corresponding to each observation value in the positioning result of the current frequency point is greater than the preset threshold value, determine that the positioning result of the current frequency point is consistent;

[0011] When the positioning results of the three frequency points are consistent, it is determined that there is no interference at the three frequency points, and the average of the same observations of the three positioning results is taken as the final positioning result;

[0012] When the positioning results of two frequency points are consistent and the positioning result of another frequency point is inconsistent, it is determined that the frequency points with inconsistent positioning results have interference, and the frequency points with consistent positioning results do not have interference, and the average of the same observations of the two consistent positioning results is taken as the final positioning result;

[0013] When the positioning results of the three frequency points are inconsistent, it is determined that at least two frequency points are interfered with, and no final positioning result is generated.

[0014] Preferably, the consistency test result of each observation in the positioning result of each frequency point is obtained by the following formula:

[0015]

[0016] In the formula, φ ij is the consistency test result of the jth observation in the positioning result of the i-th frequency point, i = 1, 2, 3, j = 1, 2, 3, 4, 5, 6, m ij is the variance of the jth observation in the positioning result of the i-th frequency point, is the mean variance of the same observation j in the positioning results of the three frequency points, m max,j is the maximum variance of the same observation j in the positioning results of the three frequency points, m min,j is the minimum variance of the same observation j in the positioning results of the three frequency points.

[0017] Preferably, the variance of each observation in the positioning result of each frequency point is obtained by the following formula:

[0018]

[0019] Where U ij is the normalized value of the jth observation in the positioning result of the i-th frequency point at the current moment, is the normalized average value of the jth observation in the positioning result of the i-th frequency point, and N is the number of positioning solutions in the preset time period.

[0020] Preferably, the normalized value of each observation value in the positioning result of each frequency point at the current moment is obtained by the following formula:

[0021]

[0022] Where, t ij is the current value of the jth observation in the positioning result of the i-th frequency point, t min,ij is the minimum value of the jth observation in the positioning result of the i-th frequency point, t max,ij is the maximum value of the jth observation in the positioning result of the i-th frequency point.

[0023] Preferably, the preset threshold value is set to 0.9.

[0024] By applying the technical solution of the present invention, satellite signals in three frequency bands, B1, B2 and B3, are received by a satellite signal receiving antenna for positioning and navigation, and the consistency of the satellite signal positioning results of the three frequency bands is compared. The frequency points with consistent positioning results are the frequency points that have not been deceived. When the positioning system of a certain frequency point is deceived, the deception is identified, and the average of the positioning results of the remaining normally working frequency points is used as the final output result. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The included drawings are used to provide a further understanding of the embodiments of the present invention, which constitute a part of the specification, are used to illustrate the embodiments of the present invention, and together with the text description, explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 A schematic diagram of an anti-spoofing interference positioning method based on multi-frequency positioning consistency provided according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0027] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0029] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0030] like Figure 1 As shown, the present invention provides an anti-spoofing interference positioning method based on multi-frequency point positioning consistency, the method comprising:

[0031] The three receiving antennas with different frequencies receive satellite signals with corresponding frequencies in space and input them into the RF module;

[0032] The RF module down-converts the three satellite signals respectively to obtain three intermediate frequency signals, which are then input into the positioning solution module.

[0033] The positioning solution module performs positioning solution on the three intermediate frequency signals respectively, obtains three positioning results, and inputs them into the control module, wherein each positioning result includes six observation quantities, namely, the X, Y, Z axis position and X, Y, Z axis speed of the satellite receiver;

[0034] The control module obtains the variance of each observation in the positioning result of each frequency point respectively; and performs consistency detection based on the variance of each observation in the positioning result of each frequency point to obtain the consistency detection result corresponding to each observation in the positioning result of each frequency point;

[0035] Determine whether the consistency detection result corresponding to each observation value in the positioning result of each frequency point within the preset time period is greater than the preset threshold value; if the consistency detection result corresponding to each observation value in the positioning result of the current frequency point is greater than the preset threshold value, determine that the positioning result of the current frequency point is consistent;

[0036] When the positioning results of the three frequency points are consistent, it is determined that there is no interference at the three frequency points, and the average of the same observations of the three positioning results is taken as the final positioning result;

[0037] When the positioning results of two frequency points are consistent and the positioning result of another frequency point is inconsistent, it is determined that the frequency points with inconsistent positioning results have interference, and the frequency points with consistent positioning results do not have interference, and the average of the same observations of the two consistent positioning results is taken as the final positioning result;

[0038] When the positioning results of the three frequency points are inconsistent, it is determined that at least two frequency points are interfered with, and no final positioning result is generated.

[0039] The present invention receives satellite signals in three frequency bands, B1, B2 and B3, through a satellite signal receiving antenna for positioning and navigation, and compares the consistency of the satellite signal positioning results of the three frequency bands. The frequency points with consistent positioning results are the frequency points that have not been deceived. When the positioning system of a certain frequency point is deceived, the deception is identified, and the average of the positioning results of the remaining normally working frequency points is used as the final output result.

[0040] In order to further understand the present invention, the following Figure 1 The anti-spoofing and interference positioning method based on multi-frequency point positioning consistency of the present invention is described in detail.

[0041] In this embodiment, if Figure 1 As shown in the figure, the satellite receiver is composed of two parts: a receiving antenna and a satellite navigation receiver host. The receiving antenna includes three frequency receiving antennas: B1, B2 and B3. The three frequency receiving signals are connected to the RF module respectively. The satellite navigation receiver host includes a RF module and a baseband processing module, wherein the baseband processing module is further divided into a positioning solution module and a control module. The RF module hardware is a RF chip, the positioning solution module is an ASIC circuit, and the control module is a processor. The RF module is responsible for processing the analog signals received in the three frequency bands of B1, B2 and B3, the positioning solution module is responsible for A / D sampling and positioning solution, and the control module is responsible for controlling the status of the RF chip and the positioning solution module, and comparing the positioning consistency results.

[0042] Among them, the radio frequency module and positioning calculation module are of general design, and the control module is mainly described below:

[0043] (1) Build a multi-frequency positioning receiver for positioning

[0044] The satellite receivers of three positioning systems, B1, B2 and B3, are constructed. The center frequency of B1 is 1575.42MHz, the center frequency of B2 is 1207.14MHz, and the center frequency of B3 is 1268.52MHz. The working frequencies of the three positioning systems are quite different, and the signal frequency bands and bandwidths are different. It is difficult to deceive them at the same time. The control module configures the RF chip and the positioning solution module so that it can complete the positioning solution of the three frequencies of B1, B2 and B3 in parallel.

[0045] (2) Calculation of multi-frequency positioning results

[0046] First, the three frequency band signal receiving antennas B1, B2 and B3 receive the satellite signals of their respective frequency bands in space, and then enter the RF module. After down-conversion, the RF module outputs the intermediate frequency signal to enter the positioning solution module. The positioning solution module undergoes the common signal processing and positioning solution process of the satellite receiver. Finally, under each positioning system, the observation positioning result obtained is the set {x i ,y i ,z i ,vx i ,vy i ,vz i}. Where x i ,y i ,z i Indicates the location coordinates of the satellite receiver, vx i ,vy i ,vz i The velocity coordinates (i=1, 2, 3) of the satellite receiver represent the positioning results of the satellite receiver under the three positioning systems. The three positioning result sets are input into the control module for consistency comparison.

[0047] (3) Comparison of the consistency of positioning results of three positioning systems

[0048] In the control module, the consistency of the positioning results of the three positioning systems is compared. The present invention selects variance to analyze the consistency of the positioning results of the satellite receiver. Assuming that the satellite receiver performs N positioning solutions per second, we take 1s of data from the three positioning systems for consistency result analysis. The calculation formula of the variance is:

[0049]

[0050] Where U ij is the normalized value of the jth observation in the positioning result of the i-th frequency point at the current moment, is the normalized average value of the jth observation in the positioning result of the i-th frequency point, and the average value of the observation within 1s is taken. N is the number of positioning solutions within the preset time period.

[0051] Among them, the normalization formula is:

[0052]

[0053] Where, t ij is the current value of the jth observation in the positioning result of the i-th frequency point, t min,ij is the minimum value of the jth observation in the positioning result of the i-th frequency point, t max,ij is the maximum value of the jth observation in the positioning result of the i-th frequency point.

[0054] The consistency results of the three positioning systems are compared using data dispersion, and the processing formula is:

[0055]

[0056] In the formula, φ ij is the consistency test result of the jth observation in the positioning result of the i-th frequency point, i = 1, 2, 3, j = 1, 2, 3, 4, 5, 6, m ij is the variance of the jth observation in the positioning result of the i-th frequency point, is the mean variance of the same observation j in the positioning results of the three frequency points, m max,j is the maximum variance of the same observation j in the positioning results of the three frequency points, m min,j is the minimum variance of the same observation j in the positioning results of the three frequency points.

[0057] If there is φ ij If it is less than 0.9, it is considered that the positioning result of frequency i is inconsistent with the positioning results of other frequency points, and the signal of this frequency point is spoofed and unusable.

[0058] 1) If the positioning results of the three frequency points are consistent, it means that there is no interference at the three frequency points;

[0059] 2) If the positioning results of two frequency points are consistent and the other one is inconsistent, it is determined that the inconsistent frequency point is interfered. If the inconsistent frequency point is used for positioning, it is switched to another frequency point for positioning;

[0060] 3) If the positioning results of the three frequencies are inconsistent, at least two frequencies are subject to fraudulent interference.

[0061] Finally, the mean of the available positioning results is selected as the final positioning result.

[0062] In summary, the present invention provides an anti-deception and interference positioning method based on multi-frequency point positioning consistency. Satellite signals in three frequency bands, B1, B2 and B3, are received by a satellite signal receiving antenna for positioning and navigation, and the consistency of the satellite signal positioning results in the three frequency bands is compared. The frequency points with consistent positioning results are the frequency points that have not been deceived. When a certain frequency point positioning system is deceived, the deception is identified, and the average of the positioning results of the remaining normally working frequency points is used as the final output result.

[0063] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0064] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for anti-spoofing and interference positioning based on multi-frequency positioning consistency, characterized in that: The method comprises: The three receiving antennas with different frequencies receive satellite signals with corresponding frequencies in space and input them into the RF module; The RF module down-converts the three satellite signals respectively to obtain three intermediate frequency signals, which are then input into the positioning solution module. The positioning solution module performs positioning solution on the three intermediate frequency signals respectively, obtains three positioning results, and inputs them into the control module, wherein each positioning result includes six observation quantities, namely, the X, Y, Z axis position and X, Y, Z axis speed of the satellite receiver; The control module obtains the variance of each observation in the positioning result of each frequency point respectively; and performs consistency detection based on the variance of each observation in the positioning result of each frequency point to obtain the consistency detection result corresponding to each observation in the positioning result of each frequency point; Determine whether the consistency detection result corresponding to each observation value in the positioning result of each frequency point within the preset time period is greater than the preset threshold value; if the consistency detection result corresponding to each observation value in the positioning result of the current frequency point is greater than the preset threshold value, determine that the positioning result of the current frequency point is consistent; When the positioning results of the three frequency points are consistent, it is determined that there is no interference at the three frequency points, and the average of the same observations of the three positioning results is taken as the final positioning result; When the positioning results of two frequency points are consistent and the positioning result of another frequency point is inconsistent, it is determined that the frequency points with inconsistent positioning results have interference, and the frequency points with consistent positioning results do not have interference, and the average of the same observations of the two consistent positioning results is taken as the final positioning result; When the positioning results of the three frequency points are inconsistent, it is determined that at least two frequency points are interfered with, and no final positioning result is generated.

2. The method according to claim 1, characterized in that The consistency test result of each observation in the positioning result of each frequency point is obtained by the following formula: In the formula, φ ij is the consistency test result of the jth observation in the positioning result of the i-th frequency point, i = 1, 2, 3, j = 1, 2, 3, 4, 5, 6, m ij is the variance of the jth observation in the positioning result of the i-th frequency point, is the mean variance of the same observation j in the positioning results of the three frequency points, m max,j is the maximum variance of the same observation j in the positioning results of the three frequency points, m min,j is the minimum variance of the same observation j in the positioning results of the three frequency points.

3. The method according to claim 1, characterized in that The variance of each observation in the positioning result of each frequency point is obtained by the following formula: Where U ij is the normalized value of the jth observation in the positioning result of the i-th frequency point at the current moment, is the normalized average value of the jth observation in the positioning result of the i-th frequency point, and N is the number of positioning solutions in the preset time period.

4. The method according to claim 1, characterized in that The normalized value of each observation value in the positioning result of each frequency point at the current moment is obtained by the following formula: In the formula, t ij is the current value of the jth observation in the positioning result of the i-th frequency point, t min,ij is the minimum value of the jth observation in the positioning result of the i-th frequency point, t max,ij is the maximum value of the jth observation in the positioning result of the i-th frequency point.

5. The method according to claim 1, characterized in that The default threshold is set to 0.9.

Images