Automobile navigation positioning information security test method and system
Through the combined test of simulated navigation positioning signals and interference signals, the anti-interference and anti-spoofing capabilities of the intelligent connected vehicle navigation positioning system are evaluated, and the problem of the navigation positioning system being susceptible to interference and fraud in complex environments is solved, and the effective evaluation of information security capabilities is achieved.
Patent Information
- Application Number
- CN202510046392.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-13
- Publication Date
- 2025-04-11
AI Technical Summary
Intelligent connected vehicle navigation and positioning systems are susceptible to interference and deception in complex environments, resulting in reduced positioning accuracy and even serious consequences.
A simulator using navigation positioning signals and interference signals generates a combined signal, and outputs the combined signal to the navigation positioning receiver through the radio frequency combination module, calculates the equivalent carrier-to-noise power ratio, evaluates the accuracy of the positioning results, and performs anti-spoofing tests by adding spoofing signals.
The anti-interference and anti-spoofing ability of the car navigation and positioning system was tested, the problem of network security could not be quantitatively measured, and the information security ability of the entire car navigation and positioning of the car was evaluated.
Smart Images
Figure CN119803532A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of safety testing of vehicle-mounted navigation and positioning devices, and in particular to a method and system for safety testing of vehicle navigation and positioning information. Background Art
[0002] Navigation positioning is an important part of intelligent connected vehicles, and its security is particularly important. Once attacked, it will not only cause the driver's privacy to be leaked, but also directly cause personal injury and property loss. At the same time, it will also damage the brand's reputation and even rise to a social problem that endangers national security. Therefore, the research on information security testing technology for intelligent connected vehicle navigation and positioning is particularly urgent. However, after the navigation signal is transmitted through the atmosphere and other media, the signal strength is very weak when it reaches the ground. In addition, the use environment of intelligent connected vehicle navigation and positioning is complex. With the continuous improvement of intentional interference technology, the navigation and positioning satellite signals of intelligent connected vehicles are increasingly threatened, and it is very easy to produce erroneous positioning results due to various environmental or human interference. Therefore, it is necessary to solve the problems existing in the existing technology to meet the needs of automobile companies, parts manufacturers, automobile testing agencies, etc. for vehicle navigation and positioning information security testing.
[0003] At present, the main influences in the environment of smart connected car navigation and positioning equipment are interference and deception. Interference is the interference signal received by the receiver that is higher than the strength of the satellite signal after despreading. Deception is to forward the real satellite signal from other places or the artificially generated deception signal, so that the navigation and positioning system will make errors in parsing and the positioning accuracy will be seriously reduced. Moreover, once the receiver is controlled by the deception signal, the smart connected car will have more serious consequences. Summary of the invention
[0004] To solve at least one aspect of the above problems, the present invention provides a method for testing the security of automobile navigation and positioning information, comprising: using a navigation positioning generator to record a navigation and positioning signal generated by a constellation simulator, and using an interference signal generator to record an environmental signal; obtaining test signal parameters, the test signal parameters including interference signal parameters and navigation signal parameters, outputting an interference simulation signal based on the interference signal parameters and the environmental signal, and outputting a navigation and positioning simulation signal based on the navigation signal parameters and the navigation and positioning signal; combining the navigation and positioning simulation signal and the interference simulation signal through radio frequency combining to output a combined signal; using a navigation and positioning receiver to receive the combined signal, and calculating an equivalent carrier-to-noise power ratio based on the combined signal; calculating the difference between the equivalent carrier-to-noise power ratio before and after applying interference, and when the difference between the equivalent carrier-to-noise power ratio is less than a preset parameter threshold, evaluating the positioning result output by the tested sample based on the combined signal, and when the positioning result is accurate, the tested sample is normal, and when the positioning result is wrong, the tested sample is abnormal; adding a spoofing signal through the navigation and positioning simulation signal to obtain the positioning result output by the tested sample based on the combined signal.
[0005] Preferably, the environmental signal includes a navigation positioning signal, a cellular network signal and a mobile hotspot signal, and the interference signal parameter is a ratio of the navigation positioning signal to the cellular network signal and / or the mobile hotspot signal.
[0006] Preferably, the interference simulation signal includes a single-tone interference signal at the same frequency point, a swept-frequency interference signal at the same frequency point, and a dual-tone interference signal at the same frequency point.
[0007] On the other hand, a car navigation and positioning information security test system is provided, which executes any of the above methods, including: a constellation simulator, which is used to output a navigation and positioning signal; a navigation and positioning generator, which is used to record the navigation and positioning signal; an interference signal generator, which is used to record environmental signals; an interference deception test controller, which is communicatively connected to the navigation and positioning generator and the navigation stability generator respectively, and is used to output interference simulation instructions and navigation and positioning simulation instructions, and the interference simulation instructions are used to control the interference signal generator based on the interference signal. The environmental signal outputs an interference simulation signal, and the navigation positioning simulation instruction is used to control the navigation positioning generator to output a navigation positioning simulation signal based on the navigation positioning signal; a radio frequency combining module, the radio frequency combining module is used to combine the navigation positioning simulation signal and the interference simulation signal to output a combined signal, the radio frequency combining module also includes a sample interface, the sample interface is used to connect the sample to be tested, and the radio frequency combining module outputs the combined signal to the sample to be tested through the sample interface; a navigation positioning receiver, the navigation positioning receiver receives the combined signal through the radio frequency combining module, and calculates the equivalent carrier-to-noise power ratio based on the combined signal.
[0008] Preferably, the navigation and positioning signal includes any one of a GPS signal, a GLONASS signal, a GALILEO signal, and a Beidou signal, or a combination of several of them.
[0009] Preferably, the output frequency of the navigation positioning analog signal is less than or equal to 1 Hz.
[0010] The automobile navigation and positioning information security testing method and system of the embodiment of the present invention have the following beneficial effects: the automobile navigation and positioning information security testing method is proposed to simultaneously test the anti-interference capability and the anti-deception capability. The problem that the network security of the automobile navigation and positioning system cannot be quantitatively measured is solved, and the method for evaluating the information security capability of the automobile navigation and positioning is solved. BRIEF DESCRIPTION OF THE DRAWINGS
[0011] In order to better understand the above and other purposes, features, advantages and functions of the present invention, reference may be made to the embodiments shown in the accompanying drawings. The same reference numerals in the accompanying drawings refer to the same components. It should be understood by those skilled in the art that the accompanying drawings are intended to schematically illustrate the preferred embodiments of the present invention and have no limiting effect on the scope of the present invention, and the components in the drawings are not drawn to scale.
[0012] Figure 1 A schematic diagram of an application scenario of a method for testing the safety of automobile navigation and positioning information according to an embodiment of the present invention is shown. DETAILED DESCRIPTION
[0013] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.
[0014] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.
[0015] In order to at least partially solve one or more of the above-mentioned problems and other potential problems, an embodiment of the present disclosure proposes a method for security testing of automobile navigation positioning information, including: step S1, using a navigation positioning generator to record the navigation positioning signal of a constellation simulator, and using an interference signal generator to record an environmental signal.
[0016] Specifically, the constellation simulator generates the same transmission signal as the navigation and positioning satellites. The environmental signals recorded by the interference signal generator include navigation and positioning signals, cellular network signals, and mobile hotspot signals.
[0017] Step S2, obtaining test signal parameters, the test signal parameters including interference signal parameters and navigation signal parameters, outputting interference simulation signals based on the interference signal parameters and the environmental signal, and outputting navigation positioning simulation signals based on the navigation signal parameters and the navigation positioning signal.
[0018] Specifically, the test signal parameters are values set based on information security test requirements, wherein the interference signal parameters are the signal-to-noise ratio of the interference signal. By setting the interference signal parameters, the different environmental signals recorded can be pieced together into interference signals with different signal-to-noise ratios through the test system, and applied to the environment where the sample under test is located, so as to achieve the purpose of testing the anti-interference ability of the sample under test. For example, environmental signals include navigation positioning signals, cellular network signals, and mobile hotspot signals, and the interference signal parameters are the ratio of the navigation positioning signal to the cellular network signal and / or the mobile hotspot signal. The interference signal includes a single-tone interference signal at the same frequency point, a swept-frequency interference signal at the same frequency point, and a dual-tone interference signal at the same frequency point.
[0019] Step S3: Combine the navigation positioning analog signal and the interference analog signal through radio frequency combining to output a combined signal.
[0020] Specifically, the RF combiner combines the simulated interference signal and the navigation positioning signal to achieve the effect of signal combination, and sends the combined signal to the sample under test.
[0021] Step S4: using a navigation positioning receiver to receive the combined signal and calculating the equivalent carrier-to-noise power ratio based on the combined signal
[0022]
[0023] in, is the actual carrier-to-noise power ratio of the combined signal, is the power ratio of the interference analog signal to the real analog signal, Q is the preset quantization factor, and Rc is the code rate generated by the RF combined code chips.
[0024] Specifically, the navigation and positioning receiver uses the carrier-power-to-noise density ratio (C / N0) to monitor the quality of the received signal. The navigation and positioning receiver regards the noise as white noise and can be described by the normalized noise density. The navigation and positioning receiver observes all parameters including C / N0. Once there is a sudden change or interruption within the fault tolerance range, or even a sudden jump in the signal observation value and signal power, it means that the receiver is attacked by interference. The navigation and positioning receiver always monitors the power and C / N0 of the received combined signal.
[0025] Q is a quantization factor, which is determined by the interference type and the modulation mode of the interference signal (for narrowband, matched spectrum, and bandwidth-limited white noise interference, the dimensionless Q is 1, 1.5, and 2.22, respectively); Rc is the code rate generated by the code chip. Therefore, during the test, the information security resistance capability of the navigation positioning can be determined by real-time acquisition of the change in the carrier-to-noise power ratio of the combined signal received by the navigation receiver under the implementation of the interference signal.
[0026] Step S5, calculate the difference in the equivalent carrier-to-noise power ratio before and after the interference is applied. When the difference in the equivalent carrier-to-noise power ratio is less than the preset parameter threshold, evaluate the positioning result of the sample under test based on the combined signal output. When the positioning result is accurate, the sample under test is normal; when the positioning result is wrong, the sample under test is abnormal.
[0027] Specifically, during the test implementation, the carrier-to-noise power ratio (C / N0) of the signal received by the receiver is collected before the interference signal is applied. After the interference is applied, the equivalent carrier-to-noise power ratio difference Δ(C / N0) is checked. eq The difference of equivalent carrier-to-noise power ratio and signal-to-noise ratio Δ(C / N0) is obtained continuously.eq .
[0028] In the trial analysis module, the preset parameter threshold is set to 3. When Δ(C / N0) eq <3, the navigation positioning machine of the tested sample can continuously and efficiently locate. eq When >3, the positioning accuracy of the navigation and positioning machine of the tested sample will fluctuate significantly.
[0029] Step S6, adding a spoofing signal to the navigation positioning simulation signal to obtain a positioning result of the tested sample based on the output of the combined signal.
[0030] Specifically, the deception generates a deception signal through a navigation positioning signal generator. The navigation positioning simulator of the navigation positioning generator contains 4 normal signals for normal positioning and 1 deception signal for generating a deception signal. During the test, these 5 signals are applied to the test sample under fixed coordinate estimation. For example, the positioning target of the 4 normal signals is point A, and the positioning target of the 1 deception signal is point B. When the positioning state of the sample output by the tested sample is point A, the ability of the tested sample to resist deception signals is qualified. When the positioning state output by the tested sample deviates from point A, the ability of the tested sample to resist deception signals is unqualified.
[0031] The navigation signal parameters are parameters set according to the requirements of specific deception test scenarios. The deception ephemeris scenarios simulated in the deception test scenarios include: ephemeris information collapse, which is reproduced based on a real scenario and simulates the GLONASS ephemeris collapse event that started at UTC21:15 on April 1, 2014; ephemeris data tampering (deception event), which is reproduced based on a real scenario and simulates the position of a satellite being placed below the earth's surface by tampering with ephemeris data at a hacker conference in 2014; satellite marked as Unhealthy, which is reproduced based on a real scenario and simulates the receiver failure caused by the receiver parsing the navigation message on an Unhealthy satellite in the Australian waters in 2014; navigation message bit error, in this scenario, the bit of the navigation message is modified, causing the message content to be inconsistent with the verification; GPS week rollover test, this scenario is based on the reproduction of the real scenario, simulating the GPS week rollover event from April 6 to April 7, 2019. In addition to the scenario crossing the rollover point, it is also necessary to test the scenarios of 2024, 2029, and 2034 in units of 5 years; satellite signal step test RAMP.
[0032] On the other hand, a vehicle navigation positioning information security testing system is provided, which executes any of the above methods, such as Figure 1 As shown, it includes: a constellation simulator, a navigation and positioning generator, an interference signal generator, an interference deception test controller, a radio frequency combining module, a navigation and positioning receiver and an evaluation module.
[0033] The constellation simulator is used to output navigation and positioning signals. The constellation simulator includes multiple simulated satellites, which are used to output real positioning signals corresponding to the interference and deception test scenario. In some embodiments, the navigation and positioning signals include any one or a combination of GPS signals, GLONASS signals, GALILEO signals, and Beidou signals.
[0034] The Navigation Positioning Generator is used to record navigation positioning signals. The Navigation Positioning Generator can record the signals generated by the constellation simulator that realizes navigation positioning, using a single device to achieve navigation positioning in a simulated global environment under controlled laboratory conditions, in which jamming and deception scenarios can be tested.
[0035] The interference signal generator is used to record environmental signals. The interference signal generator is used to capture real navigation positioning, cellular network signals and mobile hotspot signals. The test system will piece together the different recorded signals into interference signals with different signal-to-noise ratios and apply them to the environment where the sample under test is located, so as to achieve the purpose of testing the anti-interference ability of the sample under test.
[0036] The interference deception test controller is respectively connected to the navigation positioning generator and the interference signal generator in communication. The interference deception test controller is used to output interference simulation instructions and navigation positioning simulation instructions. The interference simulation instructions are used to control the interference signal generator to output interference simulation signals based on environmental signals, and the navigation positioning simulation instructions are used to control the navigation positioning generator to output navigation positioning simulation signals based on navigation positioning signals. In some embodiments, the interference deception test controller controls the interference signal generator and the navigation positioning generator through a software terminal. Figure 1 As shown, the user receives the instructions input by the user through the interference deception test controller software terminal, the interference simulation instruction includes the signal-to-noise ratio of the interference signal, and the navigation positioning simulation instruction includes the deception signal parameter. For example, during the interference test, the interference deception test controller outputs the interference simulation instruction and the navigation positioning simulation instruction, and controls the interference signal generator and the navigation positioning generator to generate the interference simulation signal and the navigation positioning simulation signal. During the deception test, the interference deception test controller outputs the deception test instruction, and the navigation positioning generator outputs the real navigation positioning simulation signal and the deception navigation positioning simulation signal in response to the deception test instruction.
[0037] In some embodiments, the output frequency of the navigation positioning analog signal is less than or equal to 1 Hz.
[0038] The RF combiner module is used to combine the navigation positioning analog signal and the interference analog signal to output a combined signal. The RF combiner module also includes a sample interface, which is used to connect the sample to be tested. The RF combiner module outputs the combined signal to the sample to be tested through the sample interface. The positioning result output by the sample to be tested based on the combined signal is the positioning status of the sample.
[0039] The navigation and positioning receiver receives the combined signal through the RF combining module and calculates the equivalent carrier-to-noise power ratio based on the combined signal. The navigation and positioning receiver calculates the equivalent carrier-to-noise power ratio, ie, the measured value, using step S4 of the automobile navigation and positioning information security test method.
[0040] The user evaluates the equivalent carrier-to-noise power ratio and the positioning result of the sample under test. When the difference in the equivalent carrier-to-noise power ratio is less than the preset parameter threshold, the positioning result of the sample under test based on the combined signal output is evaluated. When the positioning result is accurate, the sample under test is normal, and when the positioning result is wrong, the sample under test is abnormal. When the difference in the equivalent carrier-to-noise power ratio is greater than or equal to the preset parameter threshold, it is considered that the interference is excessive and affects the normal operation of the sample under test.
[0041] When performing a spoofing test, the navigation positioning simulation signal includes a preset number of real signals and spoofing signals, for example, 4 real navigation positioning signals and 1 spoofing navigation positioning signal. The user evaluates the anti-spoofing capability of the sample to be tested based on the positioning results of the sample to be tested.
[0042] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the present invention.
Claims
1. A method for testing the security of automobile navigation and positioning information, characterized in that: include: The navigation positioning generator is used to record the navigation positioning signal generated by the constellation simulator, and the interference signal generator is used to record the environmental signal; Acquire test signal parameters, the test signal parameters including interference signal parameters and navigation signal parameters, output an interference simulation signal based on the interference signal parameters and the environmental signal, and output a navigation positioning simulation signal based on the navigation signal parameters and the navigation positioning signal; The navigation positioning analog signal and the interference analog signal are combined by radio frequency combining to output a combined signal; The combined signal is received by a navigation positioning receiver, and an equivalent carrier-to-noise power ratio is calculated based on the combined signal. in, is the actual carrier-to-noise power ratio of the combined signal, is the power ratio of the interference analog signal to the real analog signal, Q is a preset quantization factor, and Rc is the code rate generated by the code chips of the RF combination; Calculate the difference of the equivalent carrier-to-noise power ratio before and after the interference is applied, and when the difference of the equivalent carrier-to-noise power ratio is less than a preset parameter threshold, evaluate the positioning result of the sample under test based on the combined signal output, and when the positioning result is accurate, the sample under test is normal, and when the positioning result is wrong, the sample under test is abnormal; A spoofing signal is added to the navigation positioning simulation signal to obtain a positioning result of the sample under test based on the output of the combined signal.
2. The method according to claim 1, characterized in that The environmental signal includes a navigation positioning signal, a cellular network signal and a mobile hotspot signal, and the interference signal parameter is a ratio of the navigation positioning signal to the cellular network signal and / or the mobile hotspot signal.
3. The method according to claim 1, characterized in that The interference simulation signal includes a single-tone interference signal at the same frequency point, a swept-frequency interference signal at the same frequency point, and a dual-tone interference signal at the same frequency point.
4. A vehicle navigation and positioning information security testing system, characterized in that: Executing any of the methods described in claims 1 to 3, comprising: A constellation simulator, wherein the constellation simulator is used to output a navigation positioning signal; A navigation positioning generator, the navigation positioning generator is used to record the navigation positioning signal; An interference signal generator, wherein the interference signal generator is used to record an environmental signal; an interference deception test controller, the interference deception test controller being communicatively connected with the navigation positioning generator and the interference signal generator respectively, the interference deception test controller being used to output interference simulation instructions and navigation positioning simulation instructions, the interference simulation instructions being used to control the interference signal generator to output an interference simulation signal based on the environmental signal, and the navigation positioning simulation instructions being used to control the navigation positioning generator to output a navigation positioning simulation signal based on the navigation positioning signal; A radio frequency combining module, wherein the radio frequency combining module is used to combine the navigation positioning analog signal and the interference analog signal to output a combined signal, and the radio frequency combining module also includes a sample interface, wherein the sample interface is used to connect to a sample to be tested, and the radio frequency combining module outputs the combined signal to the sample to be tested through the sample interface; A navigation and positioning receiver receives the combined signal through the radio frequency combining module and calculates an equivalent carrier-to-noise power ratio based on the combined signal.
5. The system according to claim 4, characterized in that The navigation and positioning signal includes any one or a combination of GPS signals, GLONASS signals, GALILEO signals, and Beidou signals.
6. The system according to claim 4, characterized in that The output frequency of the navigation positioning analog signal is less than or equal to 1 Hz.