A GNSS continuous observation station signal interference detection method and device

Abstract

A GNSS continuous observation station signal interference detection method includes the following steps: obtaining IGS station observation data, IGS station basic information data and multi-system ephemeris fusion data; extracting interference suppression abnormal data from the IGS station observation data, the interference suppression abnormal data including low carrier-to-noise ratio data and missing data; solving the position of the interfered station through a pseudo-range single point positioning algorithm based on the multi-system ephemeris fusion data and the interference suppression abnormal data; comparing the position of the interfered station with the IGS station basic information data, and generating an interference detection result according to the comparison result. The present invention provides a GNSS continuous observation station signal interference detection method and device, which can automatically identify the interference situation of the IGS station and locate the interfered IGS station, and has strong timeliness.

Description

Technical Field

[0001] The present invention relates to the field of GNSS technology, and in particular to a GNSS continuous observation station signal interference detection method and device. Background Art

[0002] The International Navigation Satellite Service (IGS) is mainly responsible for monitoring and evaluating the on-orbit operation of various satellite navigation systems and generating precise data products. At present, many GNSS continuous operation observation stations have been built around the world, hereinafter referred to as IGS stations. At present, due to the influence of factors such as the use of electronic warfare weapons in local wars, the performance of satellite navigation services in the region has seriously declined. The ADS-B monitoring data on board transit flights will be greatly interfered with, and the observation data of the surrounding IGS stations will be affected from time to time. If these disturbed IGS station observation data participate in the solution of precise data products, it will seriously affect the service accuracy of the data products. Therefore, it is necessary to analyze, review and process the IGS station observation data based on these interference conditions. However, in the prior art, these processing processes for IGS station observation data can only be carried out after the news media discloses some events and manually downloads the IGS station data in a specific area. The timeliness is too slow and the dependence on network media is too strong. In addition, the prior art also involves large network overhead, hardware resources and storage requirements, and there are great difficulties in actual operation. Summary of the invention

[0003] In order to solve the deficiencies in the prior art, the present invention provides a GNSS continuous observation station signal interference detection method and device, which can automatically identify the interference situation of IGS stations and locate the interfered IGS stations with strong timeliness.

[0004] In order to achieve the above object, the specific scheme adopted by the present invention is: a GNSS continuous observation station signal interference detection method, comprising the following steps: Obtain IGS station observation data, IGS station basic information data and multi-system ephemeris fusion data; Extract the suppressed interference anomaly data from the IGS station observation data, which includes low carrier-to-noise ratio data and missing data; Based on the multi-system ephemeris fusion data and the suppressed interference anomaly data, the location of the interfered site is solved through the pseudo-range single-point positioning algorithm; the location of the interfered site is compared with the basic information data of the IGS station, and the interference detection result is generated according to the comparison result.

[0005] As a further optimization of the above-mentioned GNSS continuous observation station signal interference detection method: the specific method of obtaining IGS station observation data, IGS station basic information data and multi-system ephemeris fusion data includes: Determine at least one target IGS station, and obtain a data source address table of the target IGS station, the data source address table including a plurality of data addresses arranged in sequence; During the target period, obtain multi-system ephemeris fusion data and generate fused broadcast ephemeris files; Obtain the site observation data of the target IGS station based on the data source address table; The IGS station observation data are combined based on all the station observation data.

[0006] As a further optimization of the above-mentioned GNSS continuous observation station signal interference detection method: when obtaining the site observation data of the target IGS station based on the data source address table, try to download in the order of the data address, and end if the download is successful.

[0007] As a further optimization of the above-mentioned GNSS continuous observation station signal interference detection method: a method for extracting interference suppression abnormal data from IGS station observation data includes: Preprocess the IGS station observation data to generate data to be detected; Identify missing epoch data from the data to be detected based on a preset observation epoch interval and mark it as lost lock; Calculate the average carrier-to-noise ratio of the data to be detected in each epoch based on the GNSS system category; Based on the preset average carrier-to-noise ratio and carrier-to-noise ratio threshold, high carrier-to-noise ratio data and low carrier-to-noise ratio data are identified from the data to be detected; low carrier-to-noise ratio data and epoch missing data are integrated into interference suppression abnormal data.

[0008] As a further optimization of the above-mentioned GNSS continuous observation station signal interference detection method: a method for calculating the location of the interfered station through a pseudo-range single point positioning algorithm based on multi-system ephemeris fusion data and suppressed interference anomaly data includes: Based on the fusion of broadcast ephemeris files, data to be detected and suppressed interference anomaly data, the positions of interfered sites of each GNSS system category in each epoch are calculated using the pseudo-range single point positioning algorithm.

[0009] As a further optimization of the above-mentioned GNSS continuous observation station signal interference detection method: the pseudo-range single-point positioning algorithm is an algorithm based on the convergence of observation residuals.

[0010] As a further optimization of the above-mentioned GNSS continuous observation station signal interference detection method: the method of comparing the location of the interfered station with the basic information data of the IGS station includes: Calculate the spatial geometric distance between the location of the interfered site and the actual location of the site in the basic information of the IGS station; Compare each spatial geometric distance with a preset spoofing position deviation threshold. If the spatial geometric distance reaches the spoofing position deviation threshold, mark the epoch corresponding to the interfered site as a spoofing epoch. Combine all spoofing epochs into a jammer detection result.

[0011] As a further optimization of the above-mentioned GNSS continuous observation station signal interference detection method: the method also includes: within the target period, generating an alarm file based on the suppression of interference abnormal data and interference detection results.

[0012] As a further optimization of the above-mentioned GNSS continuous observation station signal interference detection method: after the alarm file is generated, a site distribution map is drawn based on the alarm file.

[0013] A GBSS continuous observation station signal interference detection device, used to implement the above-mentioned GNSS continuous observation station signal interference detection method, the device comprising: The data acquisition module is used to obtain IGS station observation data, IGS station basic information data and multi-system ephemeris fusion data; the abnormal data detection module is used to extract the suppression interference abnormal data from the IGS station observation data; The site positioning module is used to calculate the location of the interfered site through a pseudo-range single-point positioning algorithm based on multi-system ephemeris fusion data and interference suppression anomaly data; The result generation module is used to compare the location of the interfered site with the basic information data of the IGS station, and generate an interference detection result according to the comparison result.

[0014] Beneficial effects: The present invention scripts the steps of downloading and processing and analyzing observation data of global IGS stations, which facilitates the automatic operation of the system and reduces operation and maintenance costs. The data download and analysis service can be started at a specified time, and the process data can be deleted and the device can be automatically shut down after processing is completed, which reduces the power consumption of the equipment and extends its service life. The present invention can perform historical screening of previous observation data, and can automatically statistically analyze the disturbance of global IGS stations within a large range of time intervals. It is also an extension of GNSS high-precision data preprocessing technology, and can provide previous screening of IGS stations for global or regional precision product solutions. The present invention can perform disturbance status analysis on observation data of IGS stations in key areas through only a set of micro-board equipment, deployment of software systems and batch scripts, and can instantly report abnormal information and original data in the form of emails. The structure is simpler and the cost is lower. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a flow chart of the method of the present invention; Figure 2 It is a structural block diagram of the system of the present invention. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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. Based on the embodiments of 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.

[0017] like Figure 1 As shown, a GNSS continuous observation station signal interference detection method includes S1 to S5.

[0018] S1. Obtain IGS station observation data, IGS station basic information data and multi-system ephemeris fusion data. In the present invention, IGS (International Gnss Service) stations include all existing categories of GNSS (Global Navigation Satellite System) stations. GNSS system categories include GPS, BDS, GALILEO and GLONASS, which are mature existing technologies and will not be described in detail here. The specific method for obtaining IGS station observation data, IGS station basic information data and multi-system ephemeris fusion data includes S11 to S14.

[0019] S11. Determine at least one target IGS station and obtain a data source address table of the target IGS station, the data source address table including a plurality of data addresses arranged in order. The selection of the target IGS station can be determined based on sensitive areas that need to be focused on. After the target IGS station is determined, the first four digits of its name can be used to mark the target IGS station and form a station table. The data address can be obtained from the IGS data center. For the same target IGS station, the obtained multiple data addresses are combined into a data source address table corresponding to the target IGS station.

[0020] S12, within a target period, obtain multi-system ephemeris fusion data and generate a fused broadcast ephemeris file BRDC. The target period can be determined according to actual needs, for example, it can be determined as one day, that is, 24 hours.

[0021] S13, based on the data source address table, obtain the site observation data of the target IGS station. When obtaining the site observation data of the target IGS station based on the data source address table, try to download in the order of the data address, and end if the download is successful, that is, do not continue to traverse other data addresses. It should also be noted that if traversing all data addresses fails to successfully download the site observation data, a warning can be issued, and all data addresses are traversed again to try to download the site observation data.

[0022] S14, combining the IGS station observation data based on all the station observation data. In the IGS station observation data, one target IGS station corresponds to a group of station observation data, and a group of station observation data includes data of at least one type of GNSS system, that is, a group of station observation data includes data of at least one of the four types of GNSS systems: GPS, BDS, GALILEO and GLONASS.

[0023] S2. Extracting interference suppression abnormal data from IGS station observation data, wherein the interference suppression abnormal data includes low carrier-to-noise ratio data and missing data. The method for extracting interference suppression abnormal data from IGS station observation data includes S21 to S25.

[0024] S21. Preprocess the IGS station observation data to generate the data to be detected. The preprocessing method is mainly to convert the format into a format that is easy to process later. The general rinex data format conversion tool can be used.

[0025] S22, based on the preset observation epoch interval, identify epoch missing data from the data to be detected, and mark it as lost lock. Specifically, if there is an epoch without corresponding data to be detected, it means that the data to be detected has data missing in the epoch, and then generate epoch missing data, which is used to record all epochs with data missing.

[0026] S23. Calculate the average signal-to-noise ratio of the data to be detected in each epoch based on the GNSS system category. For the four GNSS systems of GPS, BDS, GALILEO and GLONASS, calculate the average signal-to-noise ratio of the data to be detected in each epoch respectively, and record them as gps_snr[i], bds_snr[i], gal_snr[i] and glo_snr[i] respectively, where i is the sequence number of the epoch.

[0027] S24, based on the preset average carrier-to-noise ratio and carrier-to-noise ratio threshold, identify high carrier-to-noise ratio data and low carrier-to-noise ratio data from the data to be detected. Specifically, first determine the difference between the average carrier-to-noise ratio of the i-th epoch and the i+1-th epoch. If the difference does not exceed the preset difference threshold, and the average carrier-to-noise ratio of the i+1-th epoch is lower than the preset low carrier-to-noise ratio threshold k-, then the epoch period from the i-th epoch to the i+1-th epoch is recorded as low carrier-to-noise ratio, and if the average carrier-to-noise ratio of the i+1-th epoch is higher than the preset high carrier-to-noise ratio threshold k+, then the epoch period from the i-th epoch to the i+1-th epoch is recorded as high carrier-to-noise ratio. The low carrier-to-noise ratio threshold k- and the high carrier-to-noise ratio threshold k+ constitute the total carrier-to-noise ratio threshold.

[0028] S25, integrating the low carrier-to-noise ratio data and the epoch missing data into the interference suppression anomaly data, that is, statistically analyzing the epoch missing data, all the epoch periods of low carrier-to-noise ratio, and all the epoch periods of high carrier-to-noise ratio to form the interference suppression anomaly data.

[0029] S3. The position of the interfered site is solved by a pseudo-range single point positioning algorithm based on multi-system ephemeris fusion data and suppressed interference anomaly data. The method for solving the position of the interfered site by a pseudo-range single point positioning algorithm based on multi-system ephemeris fusion data and suppressed interference anomaly data includes: calculating the position of the interfered site of each GNSS system category in each epoch by a pseudo-range single point positioning algorithm based on the fusion broadcast ephemeris file, the data to be detected and the suppressed interference anomaly data, that is, for the four types of GNSS systems, GPS, BDS, GALILEO and GLONASS, respectively determine the position of the interfered site, and record them as gps_pos[i], bds_pos[i], gal_pos[i] and glo_pos[i] respectively. Further, the pseudo-range single point positioning algorithm is an algorithm based on the convergence of observation residuals.

[0030] S4, comparing the location of the interfered site with the basic information data of the IGS station, and generating an interference detection result according to the comparison result. The method of comparing the location of the interfered site with the basic information data of the IGS station includes S41 to S43.

[0031] S41. Calculate the spatial geometric distance between the location of the interfered site and the actual location of the site in the IGS station basic information.

[0032] S42, compare each spatial geometric distance with a preset spoofing position deviation threshold p, and if the spatial geometric distance reaches the spoofing position deviation threshold p, mark the epoch corresponding to the interfered site as a spoofing epoch. If the spatial geometric distance does not reach the preset spoofing position deviation threshold p, it means that the accuracy of the calculated position of the interfered site is credible, otherwise, the calculated position of the interfered site is unreliable, and therefore the corresponding epoch needs to be marked as a spoofing epoch.

[0033] S43. Combining all deception epochs into an interference detection result. Specifically, writing all deception epochs into a deception interference log file.

[0034] S5. During the target period, an alarm file is generated based on the suppression interference abnormal data and the interference detection results. The alarm file can be sent to the designated user by email. After the alarm file is generated, a site distribution map is drawn based on the alarm file. When the alarm file is sent, the site distribution map is also sent to the designated user synchronously.

[0035] like Figure 2As shown, the present invention further provides a GBSS continuous observation station signal interference detection device, which is used to implement the above-mentioned GNSS continuous observation station signal interference detection method. The device includes a data acquisition module, an abnormal data detection module, a site positioning module and a result generation module.

[0036] The data acquisition module is used to obtain IGS station observation data, IGS station basic information data and multi-system ephemeris fusion data.

[0037] The abnormal data detection module is used to extract the suppression interference abnormal data from the IGS station observation data.

[0038] The site positioning module is used to calculate the location of the interfered site through a pseudo-range single-point positioning algorithm based on multi-system ephemeris fusion data and interference suppression anomaly data.

[0039] The result generation module is used to compare the location of the interfered site with the basic information data of the IGS station, and generate an interference detection result according to the comparison result.

[0040] In one embodiment of the interference detection device of the present invention, the interference detection setting can be made into a micro-board device. The micro-board device has a Linux operating system, is connected to the Internet, has gcc, g++, cmake, and qmake compilation environments installed and configured, and has a mailx small mail system and a GMT map drawing toolkit installed, so that the above method can be efficiently executed. On this basis, the micro-board device can download site observation data through the wget command, and can process the acquired site observation data through a pre-edited data processing script to generate interference suppression abnormality data and various files. The generated files may include sitelist.txt for recording the target IGS station, an address table file datasource.txt for recording the data source address table, a multi-system fusion broadcast ephemeris file BRDC, a basic information file igs_source for recording the basic information data of the IGS station, a suppression interference log jam.sum for recording the suppression interference abnormality data, a deception interference log cheat.sum, an abnormal site file site.sum, and a site distribution map site.map.

[0041] Furthermore, the micro-onboard device can pre-set an automatic power on / off plan, and after the alarm file and the site distribution map are sent, the power off command can be executed; after the specified time is reached, the automatic power on command can be executed.

[0042] The present invention can analyze the disturbed state of IGS station observation data in key areas by only using a set of micro-board equipment, deploying software systems and batch processing scripts, and can instantly report abnormal information and original data in the form of emails, with a simpler structure and lower cost.

[0043] The present invention scripts the steps of downloading, processing and analyzing observation data from global IGS stations, which facilitates automatic operation of the system and reduces operation and maintenance costs. The data download and analysis service can be started at a specified time, and the process data can be deleted and the system can be automatically shut down after processing is completed, which reduces equipment power consumption and extends its service life.

[0044] The present invention can perform historical screening of previous observation data, and can automatically perform statistical analysis on the disturbance of global IGS stations within a large time range. It is also an extension of the GNSS high-precision data preprocessing technology, and can provide previous screening of IGS stations for global or regional precision product solutions.

[0045] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A GNSS continuous observation station signal interference detection method, characterized in that: The steps include: Obtain IGS station observation data, IGS station basic information data and multi-system ephemeris fusion data; Extract the suppressed interference anomaly data from the IGS station observation data, which includes low carrier-to-noise ratio data and missing data; Based on the multi-system ephemeris fusion data and the suppressed interference anomaly data, the location of the interfered site is solved through the pseudo-range single-point positioning algorithm; the location of the interfered site is compared with the basic information data of the IGS station, and the interference detection result is generated according to the comparison result.

2. A GNSS continuous observation station signal interference detection method as claimed in claim 1, characterized in that: The specific methods for obtaining IGS station observation data, IGS station basic information data and multi-system ephemeris fusion data include: Determine at least one target IGS station, and obtain a data source address table of the target IGS station, the data source address table including a plurality of data addresses arranged in sequence; During the target period, obtain multi-system ephemeris fusion data and generate fused broadcast ephemeris files; Obtain the site observation data of the target IGS station based on the data source address table; The IGS station observation data are combined based on all the station observation data.

3. A GNSS continuous observation station signal interference detection method as claimed in claim 2, characterized in that: When acquiring the site observation data of the target IGS station based on the data source address table, the download is attempted in the order of the data address, and the download ends if the download is successful.

4. A GNSS continuous observation station signal interference detection method as claimed in claim 2, characterized in that: The methods for extracting the interference suppression anomaly data from the IGS station observation data include: Preprocess the IGS station observation data to generate data to be detected; Identify missing epoch data from the data to be detected based on a preset observation epoch interval and mark it as lost lock; Calculate the average carrier-to-noise ratio of the data to be detected in each epoch based on the GNSS system category; Identify high carrier-to-noise ratio data and low carrier-to-noise ratio data from the data to be detected based on a preset average carrier-to-noise ratio and a carrier-to-noise ratio threshold; The low carrier-to-noise ratio data and epoch missing data are integrated into the interference suppressed anomaly data.

5. A GNSS continuous observation station signal interference detection method as claimed in claim 4, characterized in that: The method for solving the position of the interfered site by using a pseudo-range single-point positioning algorithm based on multi-system ephemeris fusion data and suppressed interference anomaly data includes: calculating the position of the interfered site of each GNSS system category in each epoch by using a pseudo-range single-point positioning algorithm based on a fused broadcast ephemeris file, data to be detected and suppressed interference anomaly data.

6. A GNSS continuous observation station signal interference detection method as claimed in claim 5, characterized in that: The pseudorange point positioning algorithm is an algorithm based on the convergence of observation residuals.

7. A GNSS continuous observation station signal interference detection method as claimed in claim 1, characterized in that: Methods for comparing the location of the interfered site with the basic information data of the IGS station include: Calculate the spatial geometric distance between the location of the interfered site and the actual location of the site in the basic information of the IGS station; Compare each spatial geometric distance with a preset spoofing position deviation threshold. If the spatial geometric distance reaches the spoofing position deviation threshold, mark the epoch corresponding to the interfered site as a spoofing epoch. Combine all spoofing epochs into a jammer detection result.

8. A GNSS continuous observation station signal interference detection method as claimed in claim 1, characterized in that: The method further comprises: During the target period, an alarm file is generated based on the suppression interference anomaly data and interference detection results.

9. A GNSS continuous observation station signal interference detection method as claimed in claim 8, characterized in that: After the alarm file is generated, a site distribution map is drawn based on the alarm file.

10. A GBSS continuous observation station signal interference detection device, characterized in that: The device is used to implement a GNSS continuous observation station signal interference detection method as described in any one of claims 1 to 9, comprising: Data acquisition module, used to obtain IGS station observation data, IGS station basic information data and multi-system ephemeris fusion data; An abnormal data detection module is used to extract the suppression interference abnormal data from the IGS station observation data; The site positioning module is used to calculate the location of the interfered site through a pseudo-range single-point positioning algorithm based on multi-system ephemeris fusion data and interference suppression anomaly data; The result generation module is used to compare the location of the interfered site with the basic information data of the IGS station, and generate an interference detection result according to the comparison result.

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