An anti-deception interference positioning method based on multi-frequency point positioning consistency

Abstract

The application provides an anti-deception interference positioning method based on multi-frequency point positioning consistency, which comprises the following steps: receiving satellite signals of respective corresponding frequency points in space by three receiving antennas of different frequency points; obtaining three intermediate frequency signals by a radio frequency module; obtaining three positioning results by a positioning solution module; obtaining a consistency detection result corresponding to each observation in the positioning result of each frequency point by a control module; in the case that the positioning results of the three frequency points are consistent, it is determined that there is no interference in the three frequency points, and a final positioning result is obtained; in the case that the positioning results of two frequency points are consistent, and the positioning result of the other frequency point is inconsistent, it is determined that the frequency point with inconsistent positioning result has interference, and the frequency point with consistent positioning result has no interference, and a final positioning result is obtained; in the case that the positioning results of the three frequency points are inconsistent, it is determined that at least two frequency points have interference, and no final positioning result is generated.

Description

Technical Field

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

[0002] With the increasingly widespread application of satellite navigation systems, their security has gradually become a concern for users. In recent years, deceptive jamming has been a common method of interfering with satellite navigation receivers. With the development of modern navigation warfare technology, the means of deceiving satellite navigation systems have become increasingly complex. Deceptive signals have very similar characteristic parameters to real signals, making them highly concealed and difficult to detect. From a signal perspective, deceptive signals may cause the satellite receiver's code tracking loop to lock onto the correlation peak of the deceptive interference; from a positioning result perspective, deceptive interference may cause errors in the satellite receiver's positioning results and produce instantaneous jumps, affecting the use of the satellite receiver.

[0003] Currently, traditional receiver autonomous uprightness monitoring (RAIM) is no longer effective in addressing this issue. Furthermore, in real-world applications of satellite receivers, there are situations where the receiver's reference coordinates and velocity are unknown or unmeasurable. In such cases, it's impossible to determine whether the satellite receiver has been deceived or whether the positioning results are reliable based on positioning and velocity measurement accuracy. Summary of the Invention

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

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

[0006] Three different frequency receiving antennas receive satellite signals at their respective frequencies in space and input them to the radio frequency module;

[0007] The radio frequency module performs down-conversion processing on the three satellite signals to obtain three intermediate frequency signals, which are then input to the positioning calculation module.

[0008] The positioning calculation module performs positioning calculations on the three intermediate frequency signals respectively, obtains three positioning results, and inputs them to the control module. Each positioning result includes six observations, namely the X, Y, and Z axis position and X, Y, and Z axis velocity of the satellite receiver.

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

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

[0011] If the positioning results of the three frequencies are consistent, it is determined that there is no interference among the three frequencies, and the average of the common observations of the three positioning results is taken as the final positioning result.

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

[0013] If the positioning results of the three frequency points are inconsistent, it is determined that there is interference between at least two frequency points, and no final positioning result is generated.

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

[0015]

[0016] In the formula, φ ij This is the consistency detection result of the j-th observation in the positioning results of the i-th frequency point, where i = 1, 2, 3, j = 1, 2, 3, 4, 5, 6, m ij Let be the variance of the j-th observation in the positioning results of the i-th frequency point. m is the average variance of the same observation j in the localization results of the three frequency points. max,j m represents the maximum variance of the same observation j in the localization results of the three frequency points. min,j It represents the minimum variance of the same observation j among the positioning results of the three frequency points.

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

[0018]

[0019] In the formula, U ij Let be the normalized value of the j-th observation in the positioning result of the i-th frequency point at the current time. is the normalized average value of the j-th observation in the positioning results of the i-th frequency point, and N is the number of positioning calculations within the preset time period.

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

[0021]

[0022] In the formula, t ij Let t be the current time value of the j-th observation in the positioning result of the i-th frequency point. min,ij t is the minimum value of the j-th observation in the localization result of the i-th frequency point. max,ij It represents the maximum value of the j-th observation in the positioning results of the i-th frequency point.

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

[0024] By applying the technical solution of this invention, satellite signals from three frequency bands (B1, B2, and B3) are received by a satellite signal receiving antenna for positioning and navigation. The consistency of the positioning results of the satellite signals from the three frequency bands is compared. The frequency points with consistent positioning results are the unspoofed frequency points. If the positioning system is spoofed at a certain frequency point, the spoofing is identified, and the average of the positioning results of the remaining normally functioning frequency points is used as the final output result. Attached Figure Description

[0025] The accompanying drawings, which form part of this specification, are provided to further illustrate embodiments of the invention and, together with the textual description, explain the principles of the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

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

[0027] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0029] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

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

[0031] Three different frequency receiving antennas receive satellite signals at their respective frequencies in space and input them to the radio frequency module;

[0032] The radio frequency module performs down-conversion processing on the three satellite signals to obtain three intermediate frequency signals, which are then input to the positioning calculation module.

[0033] The positioning calculation module performs positioning calculations on the three intermediate frequency signals respectively, obtains three positioning results, and inputs them to the control module. Each positioning result includes six observations, namely the X, Y, and Z axis position and X, Y, and Z axis velocity of the satellite receiver.

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

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

[0036] If the positioning results of the three frequencies are consistent, it is determined that there is no interference among the three frequencies, and the average of the common observations of the three positioning results is taken as the final positioning result.

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

[0038] If the positioning results of the three frequency points are inconsistent, it is determined that there is interference between at least two frequency points, and no final positioning result is generated.

[0039] This invention uses a satellite signal receiving antenna to receive satellite signals from three frequency bands, B1, B2, and B3, for positioning and navigation. It compares the consistency of the positioning results of the satellite signals from the three frequency bands. The frequency points with consistent positioning results are the unspoofed frequency points. If the positioning system is spoofed at a certain frequency point, the spoofing is identified, and the average of the positioning results of the remaining normally functioning frequency points is used as the final output result.

[0040] To gain a further understanding of the present invention, the following description is provided in conjunction with... Figure 1 The anti-spoofing interference positioning method based on multi-frequency point positioning consistency of the present invention will be described in detail.

[0041] In this embodiment, as Figure 1 As shown, the satellite receiver consists of two parts: a receiving antenna and a satellite navigation receiver main unit. The receiving antenna includes three frequency bands: B1, B2, and B3. The signals received at each of these three frequencies are respectively connected to the radio frequency (RF) module. The satellite navigation receiver main unit includes an RF module and a baseband processing module. The baseband processing module is further divided into a positioning calculation module and a control module. The RF module hardware is an RF chip, the positioning calculation module is an ASIC circuit, and the control module is a processor. The RF module is responsible for processing the analog signals received from the B1, B2, and B3 frequency bands. The positioning calculation module is responsible for A / D sampling and positioning calculation. The control module is responsible for controlling the states of the RF chip and the positioning calculation module, and comparing the positioning consistency results.

[0042] The radio frequency module and the positioning calculation module are of general design; the control module will be described below:

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

[0044] Satellite receivers for three positioning systems, B1, B2, and B3, were constructed. The center frequency for B1 is 1575.42MHz, for B2 it is 1207.14MHz, and for B3 it is 1268.52MHz. The three positioning systems operate at significantly different frequencies, with different signal bands and bandwidths, making it difficult to simultaneously spoof them. The control module configures the RF chip and positioning calculation module to perform positioning calculations for the three frequency systems (B1, B2, and B3) in parallel.

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

[0046] First, the B1, B2, and B3 frequency band signal receiving antennas receive satellite signals from their respective frequency bands in space. These signals then enter the radio frequency (RF) module. After down-conversion, the RF module outputs an intermediate frequency (IF) signal, which enters the positioning calculation module. The positioning calculation module then performs the signal processing and positioning calculation procedures common to satellite receivers. Finally, under each positioning system, the observed positioning results are set {x}. i ,y i ,z i vx i ,vy i ,vz i}. Where x i ,y i ,z i This represents the location coordinates of the satellite receiver, vx i ,vy i ,vz i The velocity coordinates (i = 1, 2, 3) represent the satellite receiver's positioning results under three positioning systems. The three sets of positioning results are input into the control module for consistency comparison.

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

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

[0049]

[0050] In the formula, U ij Let be the normalized value of the j-th observation in the positioning result of the i-th frequency point at the current time. The normalized average value of the j-th observation in the positioning results of the i-th frequency point is taken as the average value of the observation within 1 second, and N is the number of positioning calculations within the preset time period.

[0051] The normalization formula is as follows:

[0052]

[0053] In the formula, t ij Let t be the current time value of the j-th observation in the positioning result of the i-th frequency point. min,ij t is the minimum value of the j-th observation in the localization result of the i-th frequency point. max,ij It represents the maximum value of the j-th observation in the positioning results of the i-th frequency point.

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

[0055]

[0056] In the formula, φ ij This is the consistency detection result of the j-th observation in the positioning results of the i-th frequency point, where i = 1, 2, 3, j = 1, 2, 3, 4, 5, 6, m ij Let be the variance of the j-th observation in the positioning results of the i-th frequency point. m is the average variance of the same observation j in the localization results of the three frequency points. max,j m represents the maximum variance of the same observation j in the localization results of the three frequency points. min,j It represents the minimum variance of the same observation j among the positioning results of the three frequency points.

[0057] If φ exists ij If the value is less than 0.9, it is considered that the positioning result of frequency point i is inconsistent with the positioning results of other frequency points, the signal of that frequency point has been deceived and is unusable.

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

[0059] 2) If two frequency points have the same positioning results and another does not, it is determined that the inconsistent frequency point is under interference. If the frequency point is used for positioning, switch to another frequency point for positioning.

[0060] 3) If the positioning results of the three frequency points are inconsistent, then at least two frequency points are subject to deception interference.

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

[0062] In summary, this invention provides an anti-spoofing interference positioning method based on multi-frequency point positioning consistency. It uses a satellite signal receiving antenna to receive satellite signals from three frequency bands (B1, B2, and B3) for positioning and navigation, and compares the consistency of the positioning results from the three frequency bands. Frequency points with consistent positioning results are those that have not been spoofed. If the positioning system at a certain frequency point is spoofed, the spoofing is identified, and the average of the positioning results from the remaining normally functioning frequency points is used as the final output.

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

[0064] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0065] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for anti-deception interference positioning based on multi-frequency point positioning consistency, characterized in that, The method comprises: Three receiving antennas of different frequencies receive satellite signals of respective corresponding frequencies in space and input to a radio frequency module; The radio frequency module respectively performs down-conversion processing on the three satellite signals to obtain three intermediate frequency signals and input to a positioning solution module; The positioning solution module respectively performs positioning solution on the three intermediate frequency signals to obtain three positioning results, and input to a control module, wherein each positioning result comprises six observations, respectively X, Y, Z axis positions and X, Y, Z axis velocities of the satellite receiver; The control module respectively obtains the variance of each observation in the positioning result of each frequency; and performs consistency detection based on the variance of each observation in the positioning result of each frequency to obtain the consistency detection result corresponding to each observation in the positioning result of each frequency; Respectively judge whether the consistency detection result corresponding to each observation in the positioning result of each frequency in a preset time period is greater than a preset threshold value; in the case that the consistency detection result corresponding to each observation in the positioning result of the current frequency is greater than the preset threshold value, it is determined that the positioning result of the current frequency is consistent; In the case that the positioning results of the three frequencies are all consistent, it is determined that there is no interference in the three frequencies, and the same observations of the three positioning results are averaged to obtain the final positioning result; In the case that the positioning results of two frequencies are consistent and the positioning result of the other frequency is inconsistent, it is determined that the frequency with inconsistent positioning result has interference, and the frequency with consistent positioning result has no interference, and the same observations of the two consistent positioning results are averaged to obtain the final positioning result; In the case that the positioning results of the three frequencies are all inconsistent, it is determined that at least two frequencies have interference, and no final positioning result is generated; Wherein, the consistency detection result of each observation in the positioning result of each frequency is obtained by the following formula: In the formula, φ ij is the consistency detection result of the jth observation in the positioning result of the ith 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 ith frequency point, is the average value of the variance of the same observation j in the positioning results of the three frequency points, m max,j is the maximum value of the variance of the same observation j in the positioning results of the three frequency points, m min,j is the minimum value of the variance of the same observation j in the positioning results of the three frequency points; The variance of each observation in the positioning result of each frequency is obtained by the following formula: In the formula, U ij is the normalized value of the jth observation in the positioning result of the ith frequency point at the current time, is the normalized average value of the jth observation in the positioning result of the ith frequency point, and N is the number of positioning calculations in a preset time period. The normalized value of each observation in the positioning result of each frequency at the current time is obtained by the following formula: In the formula, t ij is the jth observation value in the positioning result of the ith frequency point at the current time t min,ij is the minimum value of the jth observation value in the positioning result of the ith frequency point max,ij is the maximum value of the jth observation value in the positioning result of the ith frequency point 2. The method of claim 1, wherein, The preset threshold value is set to 0.9.

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