Three-dimensional space GNSS distributed jamming suppression method and system based on slope optimal point

Abstract

The present application relates to GNSS suppressive jamming source planning and deployment technical field, especially to a kind of three-dimensional space GNSS distributed suppressive jamming method and system based on slope optimal point, three-dimensional space of target area topography is discretized into three-dimensional grid point;The slope optimal point is selected as the alternative search range of jammer deployment target point by slope and slope variability;From the alternative search range, the slope optimal point is selected in turn and the maximum coverage range when jammer is deployed at each slope optimal point is determined, the three-dimensional space jamming coverage corresponding to current slope optimal point is obtained according to the maximum coverage range;The slope optimal point with the maximum three-dimensional space jamming coverage is selected as the target point of jammer deployment, the task area is regenerated according to the three-dimensional space grid point not interfered by jammer and new jammer deployment position selection is carried out, until the jamming coverage of all grid points in task area meets the standard or all jammer deployment is completed.The present application can improve deployment efficiency while considering jammer deployment quality.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of GNSS jammer planning and deployment, and particularly relates to a three-dimensional space GNSS distributed jamming method and system based on optimal slope points, which is applied to distributed planning and deployment of GNSS jammers. BACKGROUND

[0002] With the continuous development of satellite navigation technology, GNSS-based navigation technology plays an important role in unmanned aerial vehicle guidance control. Navigation jamming can effectively block GNSS signals and become an important means of countering unmanned aerial vehicles. With the emergence of unmanned aerial vehicle swarms, the number of unmanned aerial vehicles is large and the maneuverability is strong, so the suppression mode of a single jammer gradually loses its advantages. Distributed deployment of multiple small-power GNSS jammers has become a new important countermeasure. However, the jamming signal is easily affected by terrain obstructions such as mountains in the region during propagation, and the jamming signal coverage of the jammer in three-dimensional space cannot be intuitively obtained, making it difficult to determine the optimal deployment position of the jammer. Therefore, how to optimally deploy multiple jammers has been a difficult problem.

[0003] In the current deployment process of distributed jamming sources, the actual jamming effect of the GNSS jamming source needs to be obtained first. A visibility analysis method based on a reference surface is usually used to analyze the visibility of the jamming signal. This method needs to use a digital elevation model (DEM), which is a set of grid points containing elevation data and can simulate the digital terrain surface. Specifically, the visibility analysis method based on the reference surface analyzes the visibility of all DEM grid points in the propagation range of the GNSS jamming signal by selecting grid points layer by layer, and obtains the distribution of the jamming signal on the ground surface considering the terrain obstruction. Secondly, in order to fully exert the maximum efficiency of each jamming source, an optimal jamming source deployment scheme needs to be found through a distributed jamming source deployment algorithm. Specifically, the grid point with the maximum jamming coverage rate can be selected from all the to-be-deployed points for jamming source deployment in turn until the total jamming coverage rate reaches a specified value or all jamming sources are deployed. When the task area is large, in order to improve the efficiency of the algorithm, a local optimal point is usually selected to reduce the search space of the to-be-deployed point. As the level of the local optimal point increases, the number of grid points meeting the condition will decrease sharply. Therefore, by selecting local optimal points of different levels as the search range of the jamming source deployment point, the search efficiency can be improved. However, in actual application, the existing GNSS distributed suppression jamming source deployment algorithm has the following shortcomings: the visibility analysis method based on the reference surface mainly studies the two-dimensional distribution of the jamming signal on the ground, and does not analyze the three-dimensional distribution of the jamming signal in the air, so it cannot understand the jamming situation of the unmanned aerial vehicle in the air; the level of the local optimal point is usually selected by experience, and cannot be obtained in advance. When the level of the local optimal point is too low, the calculation efficiency will be reduced, and when the level of the local optimal point is too high, the search range of the target point will be too small, causing some target points to be lost and affecting the final deployment result. SUMMARY

[0004] Therefore, the present application provides a three-dimensional space GNSS distributed suppression jamming method and system based on slope optimal points, which solves the problem that the deployment of jamming sources is affected due to the lack of consideration of air jamming and target point loss when the level of the local optimal point is used for jamming source deployment.

[0005] According to the design scheme provided by the present application, on the one hand, a three-dimensional space GNSS distributed suppression jamming method based on slope optimal points is provided, which includes:

[0006] A target area terrain three-dimensional space of the jamming signal is obtained, and the target area terrain three-dimensional space is discretized into three-dimensional grid points, and the three-dimensional grid points are represented by three-dimensional coordinates;

[0007] The grid points are taken as the interference source deployment initial points, the slope and slope rate between the interference source deployment initial point and the grid points in the specified periphery thereof are obtained according to the point slope calculation rule, and the slope optimal point is selected from the interference source deployment initial point as the candidate search range of the interference source deployment target point through the slope and slope rate;

[0008] All three-dimensional space grid points not interfered by the interference source are determined, and a task area is generated; the slope optimal points are sequentially selected from the candidate search range, and the maximum coverage range when the interference source is deployed at each slope optimal point is determined, and the three-dimensional space interference coverage corresponding to the current slope optimal point is obtained according to the maximum coverage range;

[0009] The slope optimal point with the maximum three-dimensional space interference coverage is selected as the target point for deploying the interference source, and the interference situation of all grid points in the task area is determined, all three-dimensional space grid points not interfered by the interference source are returned, and the task area is regenerated for new interference source deployment position selection until the distributed suppression jamming task index is met, and the distributed suppression jamming task index is a task area grid point interference coverage threshold index or a task area interference source deployment number index.

[0010] As the three-dimensional space GNSS distributed suppression jamming method based on the slope optimal point of the application, further, the three-dimensional space of the target area terrain of the interference signal is obtained, and the three-dimensional space of the target area terrain is discretized into three-dimensional grid points, including:

[0011] The three-dimensional terrain model of the target area is obtained by using the digital elevation model to model the terrain of the target area of the interference signal;

[0012] The minimum elevation value in the three-dimensional space is obtained according to the three-dimensional terrain model of the target area, and the elevation limit value of the three-dimensional space is determined in combination with the maximum propagation distance of the interference signal, and the number of points with the same plane coordinates in the three-dimensional space is determined by using the elevation limit value, the elevation resolution and the terrain height of each grid point;

[0013] The three-dimensional coordinate representation of each three-dimensional grid point is determined based on the three-dimensional terrain plane coordinates and the number of points of the target area.

[0014] As the three-dimensional space GNSS distributed suppression jamming method based on the slope optimal point of the application, further, the slope and slope rate between the interference source deployment initial point and the grid points in the specified periphery thereof are obtained according to the point slope calculation rule, including:

[0015] The slope between the interference source deployment initial point and the grid points in the specified periphery thereof is calculated by using the three-dimensional coordinates and the visible elevation, and the average slope between the interference source deployment initial point and the grid points in the specified periphery thereof is obtained according to the slope;

[0016] The slope and three-dimensional coordinates are used to calculate the slope change between the initial point of the jammer deployment and the grid points in the specified periphery.

[0017] As the three-dimensional space GNSS distributed suppression jamming method based on the slope optimal point of the application, further, the slope optimal point is selected as the optional search range of the jammer deployment target point from the initial point of the jammer deployment through the slope and the slope change, including:

[0018] The slope and the slope change are sorted, and the slope optimal points in the specified size range are selected in turn according to the two sorting results;

[0019] The intersection of the two slope optimal points in the specified size range is taken, and the slope optimal points contained in the intersection are taken as the optional search range of the jammer deployment target point.

[0020] As the three-dimensional space GNSS distributed suppression jamming method based on the slope optimal point of the application, further, the maximum coverage range when the jammer is deployed at each slope optimal point is determined, including:

[0021] When the jammer is deployed at each slope optimal point, the visible coordinates of each grid point are obtained from the jammer deployment position outward layer by layer in turn through three-dimensional space visual domain analysis, until the maximum range boundary of the jammer interference;

[0022] The maximum coverage range when the jammer is deployed at each slope optimal point is obtained according to the visible coordinates of each grid point and the maximum range boundary of the jammer interference.

[0023] As the three-dimensional space GNSS distributed suppression jamming method based on the slope optimal point of the application, further, the visible coordinates of each grid point are obtained from the jammer deployment position outward layer by layer in turn through three-dimensional space visual domain analysis, including:

[0024] The intersection point of the interference signal emitted by the jammer deployment position along the direction from the jammer to the interference target point and the ground is obtained;

[0025] If the intersection point is a grid point, the projection height of the target point is obtained according to the three-dimensional coordinates of the jammer deployment position and the three-dimensional coordinates of the intersection point; if the intersection point is not a grid point, the grid points adjacent to the intersection point on both sides are selected as auxiliary grid points, and a reference surface is constructed using the coordinates of the jammer deployment position and the coordinates of the auxiliary grid points, and the projection height of the target point is obtained using the reference surface;

[0026] The coverage range of the interference signal on the ground is obtained according to the projection height of the target point, and the distribution of the interference signal in the air is obtained using the visible elevation of the grid point, so as to obtain the maximum coverage range of the interference signal when the jammer is deployed according to the coverage range of the interference signal on the ground and the distribution in the air.

[0027] As the three-dimensional space GNSS distributed suppression interference method based on the slope optimal point of the application, further, the three-dimensional space interference coverage corresponding to the current slope optimal point is obtained according to the maximum coverage range, comprising:

[0028] The number of target grid points interfered by the interference source in the maximum coverage range corresponding to the slope optimal point in the task area is obtained.

[0029] The three-dimensional space interference coverage corresponding to the slope optimal point is calculated according to the number of target grid points and the number of grid points in the task area.

[0030] In another aspect, the application also provides a three-dimensional space GNSS distributed suppression interference system based on the slope optimal point, comprising: a space discretization module, a range search module, an area division module and a target deployment module, wherein,

[0031] The space discretization module is used to obtain the three-dimensional space of the target area terrain, and discretize the three-dimensional space of the target area terrain into three-dimensional grid points, and the three-dimensional grid points are represented by three-dimensional coordinates.

[0032] The range search module is used to take each grid point as an interference source deployment initial point, obtain the slope and slope rate between the interference source deployment initial point and the grid points in its specified periphery according to the point slope calculation rule, and select the slope optimal point from the interference source deployment initial point as the selected search range of the interference source deployment target point through the slope and slope rate.

[0033] The area division module is used to determine all three-dimensional space grid points not interfered by the interference source, and generate a task area; select the slope optimal point from the selected search range in turn and determine the maximum coverage range when the interference source is deployed at each slope optimal point, and obtain the three-dimensional space interference coverage corresponding to the current slope optimal point according to the maximum coverage range.

[0034] The target deployment module is used to select the slope optimal point with the maximum three-dimensional space interference coverage as the target point of the deployed interference source, and determine the interference situation of all grid points in the task area, return all three-dimensional space grid points not interfered by the interference source and regenerate the task area for new interference source deployment position selection until the distributed suppression interference task index is met, and the distributed suppression interference task index is the task area all grid points interference coverage threshold index or the task area interference source deployment number index.

[0035] The application has the following advantages:

[0036] The application obtains the distribution of the interference signal in the air through three-dimensional space visual domain analysis, obtains the coverage rate of the interference signal in the three-dimensional space of interference, and provides technical support for the GNSS suppression interference implementation of the unmanned aerial vehicle; the fuzzy local optimal point level is quantitatively represented by the slope, so that the advantages and disadvantages of each to-be-deployed point can be more accurately evaluated, the problem of determining the local optimal point level in advance is avoided, the deployment efficiency is improved, and the deployment quality of the interference source is taken into account, and the maximum utility of each interference source is fully utilized. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 A three-dimensional space GNSS distributed suppression interference process based on the slope optimal point in the embodiment is shown;

[0038] Figure 2 A slope optimal point distribution in the embodiment is shown;

[0039] Figure 3 A visual domain analysis process based on a reference surface in the embodiment is shown;

[0040] Figure 4 A three-dimensional visual domain analysis process in the embodiment is shown;

[0041] Figure 5 An interference source deployment algorithm principle in the three-dimensional space GNSS distributed suppression interference in the embodiment is shown. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical scheme and advantages of the application more clear, specific and apparent, the application will be further described in detail below with reference to the drawings and technical scheme.

[0043] For the situation of the distribution of the interference signal in the three-dimensional space, the embodiment of the application, referring to Figure 1 The application provides a three-dimensional space GNSS distributed suppression interference method based on a slope optimal point, which comprises:

[0044] S101, obtaining an interference signal target area terrain three-dimensional space, discretizing the target area terrain three-dimensional space into three-dimensional grid points, and representing the three-dimensional grid points by three-dimensional coordinates.

[0045] Specifically, the target area terrain can be three-dimensionally modeled by using a digital elevation model to obtain a target area three-dimensional terrain model; the minimum elevation value in the three-dimensional space is obtained according to the target area three-dimensional terrain model, and the elevation limit value of the three-dimensional space is determined in combination with the maximum propagation distance of the interference signal; the number of points with the same plane coordinates in the three-dimensional space is determined by using the elevation limit value, the elevation resolution and the terrain height of each grid point; and the three-dimensional coordinate representation of each three-dimensional grid point is determined based on the plane coordinates and the number of points of the target area three-dimensional terrain.

[0046] In order to analyze the distribution of the interference signal in the air, the three-dimensional space needs to be discretized, and the interference situation of each point is analyzed. Specifically, first, the three-dimensional terrain of the target area can be obtained through DEM, and a set of three-dimensional coordinates (B i ,L i ,H i ) is obtained. Assuming that the number of grid points in the target area is M, then i = 1, 2, … M, and then assuming that the elevation resolution is S, the three-dimensional space is discretized to obtain the spatial coordinates of the three-dimensional grid points (B i ,L i ,H i,n ), where H i,n equals

[0047] H i,n = H i +n×S (1)

[0048] In formula (1), n = 0, 1, 2, …, N, and when n = 0, H i,0 = H i , N is the number of points with the same plane coordinates in the three-dimensional space, and the calculation method is shown in formula (2)

[0049]

[0050] The size depends on the three-dimensional space elevation limit H lim and the terrain height H i , H i can be obtained from DEM data according to the plane coordinates, and H lim represents the maximum height value of the three-dimensional space, in order to ensure that all points in the three-dimensional space can receive the interference signal, H lim can be represented as

[0051] H lim = H min +Sig_D (3)

[0052] In formula (3), H min represents the minimum elevation value in the DEM data, and Sig_D is the maximum propagation distance of the interference signal, which is usually calculated according to the power of the interference source.

[0053] In this way, the three-dimensional space of the target area is discretized into three-dimensional grid points, and the discretization definition of the three-dimensional space is completed.

[0054] S102, each grid point is deployed as an initial point of the interference source, the slope and slope rate between the initial point of the interference source and the specified peripheral grid points are obtained according to the point slope calculation rule, and the slope and slope rate are selected from the initial point of the interference source. The slope optimal point is selected as the interference source deployment target point.

[0055] Specifically, the slope between the initial deployment point of the interference source and its designated outer grid points can be calculated using three-dimensional coordinates and visible elevation. The average slope between these points is then obtained. The slopes and slope variability are sorted, and the optimal slope points within a specified range are selected sequentially based on the two sorting results. The intersection of the two optimal slope points within the specified ranges is then used as the candidate search range for the interference source deployment target point.

[0056] Existing methods for deploying suppression sources using local optimum levels only cover ground-level interference coverage and do not consider the interference situation at other points in three-dimensional space. Local optimum levels can only simply reflect the elevation relationship between the target point and surrounding points, but cannot specifically measure the degree of terrain undulation around the target point, such as... Figure 2 As shown, points S1 and S2 have the same local optimum level, but the degree of undulation around these two points is different. Compared with point S1, point S2 has less undulation around it and is more severely occluded. In addition, the local optimum level is usually selected based on experience and cannot be obtained in advance. When the local optimum level is too high, it will lead to an excessively small search range for target points, causing some target points to be lost and affecting the final deployment result.

[0057] Therefore, in this embodiment, the slope optimization algorithm is used to quantify the level of fuzzy local optima by using the slope, which can more accurately evaluate the merits of each point to be deployed and avoid the problem of determining the level of local optima in advance.

[0058] Due to the complex topography of the Earth's surface, interference signals can be affected by terrain obstruction during propagation, such as... Figure 3 As shown, S represents the interference source, i.e., the black dot in the diagram, and O1 and O2 represent the interference target points, i.e., the red and blue pentagrams in the diagram. The interference signal emitted from point S travels along... The direction intersects the ground at points N1 and N2, i.e., the red and blue points in the diagram. When performing a 3D visibility analysis, the visible coordinates of each point need to be calculated layer by layer outwards from point S until the boundary of the maximum GNSS interference range. The specific calculation method is as follows: First, assume the 3D coordinates of point O are (B... O ,L O H O ), in calculating its projected height Plane_H O There are two situations:

[0059] 1) such as Figure 3 As shown by the red line, when the intersection point N2 (red point) is a grid point, assume the visible coordinates of points S and N2 are (B... S ,L SVisual_H S )and The projected height of point O2 (the red pentagram) is:

[0060]

[0061] 2) such as Figure 3 As shown by the blue line, when the intersection point N1 (blue dot) is not a grid point, its elevation information cannot be directly obtained. Therefore, it is necessary to construct a reference surface using auxiliary grid points P1 and P2. These auxiliary grid points are generally selected from the grid points adjacent to the intersection point. The method is as follows: Figure 4 As shown in the left figure, assume the visible coordinates of points S, P1, and P2 are (B... S ,L S Visual_H S ), and The reference plane formed by the three points can then be represented as aX + bY + cZ + d = 0, where:

[0062]

[0063] The projected height of point O1 (the blue pentagram) is:

[0064]

[0065] The above method can be used to obtain the ground coverage of the interference signal. For the distribution of the interference signal in the air, it can be analyzed using visible elevation (Visual_H). According to the calculation method of visible elevation, the magnitude of the visible elevation value is only related to the terrain, and each grid point has a unique visible elevation value. Figure 4 As shown by the black dots in the middle right figure, interference signals can be received at any spatial point in three-dimensional space that is above the visible elevation. That is, for a three-dimensional spatial point (B... i ,L i H i,n For example, if it exists

[0066]

[0067] This indicates that the point can be covered by interference signals. Therefore, the interference status of all points in the entire three-dimensional space can be obtained by using the visible elevation values ​​of each grid point.

[0068] In three-dimensional space, if Solpe represents the slope between the deployment point of the interference source and a certain point on its periphery, then according to equation (4), we can know that...

[0069]

[0070] When the horizontal distance between the deployment point of the interference source and its peripheral point is certain, the greater the Solpe value, the greater the elevation difference between the two points, the less the interference signal emitted by the interference source is shielded in the propagation process, and correspondingly, the more points can be covered by the interference signal, and the better the "quality" of the deployment point. To fully evaluate the quality of a certain deployment point of the interference source, the average slope between the deployment point of the interference source and its peripheral point needs to be calculated

[0071]

[0072] To improve the calculation efficiency and take into account the slope advantage in each direction, the average slope of the outer periphery of the deployment point of the interference source is generally taken, that is, n = 8. After the average slope of all DEM grid points in the task area is calculated in turn by formula (9) and sorted, the top 1 / 4 is selected as the slope optimal point candidate range Φ1. As can be seen from formula (9), the greater the average slope, the less the interference signal emitted by the interference source deployed at the point is shielded in each direction, and the higher the interference coverage in the three-dimensional space.

[0073] To improve the coverage of the interference signal in the three-dimensional space, the rate of change of the slope around the grid point (hereinafter referred to as the slope rate) also needs to be considered. The slope rate of each grid point can be obtained by re-calculating the grid point slope substitute elevation according to formula (8) and formula (9). After the slope rates of all grid points are sorted from large to small, the top 1 / 4 is also selected as the slope optimal point candidate range Φ2.

[0074] Then the slope optimal point selection range Φ is

[0075] Φ = Φ1∩Φ2 (10)

[0076] S103, determine all three-dimensional space grid points not interfered by the interference source and generate a task area; select the slope optimal points in turn from the candidate search range and determine the maximum coverage range when the interference source is deployed at each slope optimal point, and obtain the three-dimensional space interference coverage corresponding to the current slope optimal point according to the maximum coverage range.

[0077] Specifically, when the interference source is deployed at each slope optimal point, the visible coordinates of each grid point are obtained layer by layer outward from the deployment position of the interference source by three-dimensional space visibility analysis, until the maximum range boundary of the interference of the interference source; the maximum coverage range when the interference source is deployed at each slope optimal point is obtained according to the visible coordinates of each grid point and the maximum range boundary of the interference of the interference source.

[0078] The three-dimensional space interference coverage corresponding to the slope optimal point is calculated according to the number of target grid points interfered by the interference source in the maximum coverage range corresponding to the slope optimal point in the task area and the number of grid points in the task area. The calculation formula can be expressed as:

[0079] P = N / M*100%

[0080] In the formula, M is the number of grid points in the task area, and N is the target grid point number.

[0081] S104, select the slope optimal point with the maximum three-dimensional space interference coverage as the target point of the deployed interference source, and determine the interference situation of all grid points in the task area, return all three-dimensional space grid points not interfered by the interference source and regenerate the task area for new interference source deployment position selection until the distributed suppression interference task index is met, the distributed suppression interference task index is the interference coverage rate threshold index of all grid points in the task area or the number index of the interference source deployed in the task area.

[0082] According to the slope optimal point selection rule, select the required slope optimal point from all grid points in the task area as the target point search range, calculate the interference coverage rate of all slope optimal points in the three-dimensional space by using the three-dimensional visual domain analysis method, and select the slope optimal point with the maximum current interference coverage rate for interference source deployment in turn until the total interference coverage rate reaches the specified value or all interference sources are deployed.

[0083] Suppose that multiple interference sources of the same type need to be distributed in the task area, the algorithm flow is as shown in Figure 5 , and the specific steps can be summarized as follows: first, input the DEM grid point data and the interference source power, antenna gain and other parameters;

[0084] (1) Select the elevation resolution, discretize the three-dimensional space according to the three-dimensional space discretization method, and obtain the elevation limit value of the three-dimensional space by calculating the maximum propagation distance of the interference signal;

[0085] (2) Calculate the average slope of all grid points in turn according to formula (8) and formula (9), and sort them from large to small, select the first 1 / 4 as the slope optimal point candidate range Φ1;

[0086] (3) Substitute the slope in step 3 for the elevation into formula (8) and formula (9) again, calculate the slope variation of all grid points and sort them from large to small, select the first 1 / 4 as the slope optimal point candidate range Φ2;

[0087] (4) Select the grid points contained in both slope optimal point candidate ranges as the slope optimal points, that is, Φ1∩Φ2;

[0088] (5) Generate the task area for all three-dimensional space grid points not interfered;

[0089] (6) Select the slope optimal points in turn according to the order, calculate the maximum coverage range of the interference source deployed at the point combined with the terrain factors;

[0090] (7) performing three-dimensional visual domain analysis on the point according to the three-dimensional space visual domain analysis method to obtain an interference coverage rate of the point in the three-dimensional space;

[0091] (8) repeating (5)-(7) to obtain the interference coverage rates of all slope optimal points in the task area and sorting them;

[0092] (9) selecting a slope optimal point with the largest interference coverage rate to deploy an interference source, and recording the interference situation of all grid points in the task area at this time;

[0093] (10) repeating (5)-(9) to select new interference source deployment positions in turn until a specified task area coverage rate is reached or all interference sources are deployed.

[0094] Further, based on the above method, the embodiment of the application also provides a three-dimensional space GNSS distributed suppression interference system based on slope optimal points, comprising a space discretization module, a range search module, an area division module and a target deployment module, wherein,

[0095] The space discretization module is used to obtain a three-dimensional space of a target area terrain of an interference signal, and discretize the three-dimensional space of the target area terrain into three-dimensional grid points, and the three-dimensional grid points are represented by three-dimensional coordinates;

[0096] The range search module is used to take each grid point as an initial point of interference source deployment, obtain a slope and a slope rate between the initial point of interference source deployment and grid points in a specified periphery thereof according to a point slope calculation rule, and select a slope optimal point from the initial point of interference source deployment as a candidate search range of a target point of interference source deployment through the slope and the slope rate;

[0097] The area division module is used to determine all three-dimensional space grid points not interfered by an interference source, and generate a task area; select slope optimal points from the candidate search range in turn and determine a maximum coverage range when the interference source is deployed at each slope optimal point, and obtain a three-dimensional space interference coverage rate corresponding to the current slope optimal point according to the maximum coverage range;

[0098] The target deployment module is used to select a slope optimal point with the largest three-dimensional space interference coverage rate as a target point of deployed interference source, and determine the interference situation of all grid points in the task area, return all three-dimensional space grid points not interfered by the interference source and regenerate the task area to select a new interference source deployment position until a distributed suppression interference task index is met, and the distributed suppression interference task index is a task area all grid point interference coverage rate threshold index or a task area interference source deployment number index.

[0099] The relative sizing of components, numerical expressions, and numerical values set forth in the Examples are not intended to limit the scope of the application unless specifically so stated.

[0100] The various embodiments described in this specification are presented by way of example, and are not intended to limit the scope of the application. The various embodiments described in this specification can be combined, sub-combined, substituted, and / or combined in various ways with one another.

[0101] The units and method steps of the various examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or combinations of both. The components and steps of the various examples have been described in general terms as being representative of the functionality of the example, and the description has been simplified for the purpose of clarity. The functionality of the various examples can be implemented in hardware or software, depending on the particular application and design constraints. Those of ordinary skill in the art can implement the described functionality in varying ways for each particular application, but such implementation does not cause a departure from the scope of the application.

[0102] Those of ordinary skill in the art will appreciate that all or portions of the methods described herein can comprise digital electronic circuitry, analog electronic circuitry, or digital logic encoders designed to carry out the functions described herein. Portions of the methods described herein can be implemented as a method, a data storage medium, or a computer-readable medium comprising a readable medium having stored thereon computer software and / or data. The application embraces all such variations that fall within the scope of the included claims. The computer software or digital logic can produce a machine, such that the instructions, when executed using the machine produce the operations described herein and / or permit the machine to implement the operations described herein. The software can be software, firmware, programmable read-only memory, erasable programmable read-only memory, electrically programmable read-only memory, random access memory, or non-volatile memory, or a combination thereof.

[0103] Finally, it should be noted that the above-described embodiments are merely meant to illustrate the technical solutions of the present application, and are not meant to limit the present application. The scope of the protection of the present application is not limited to the specific embodiments described above, although the above embodiments have been described in detail. Those of ordinary skill in the art should understand that any modifications or changes to the technical solutions described in the above embodiments, or any easy-to-think-of changes, or equivalent replacements of some technical features, do not cause the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments, and should be encompassed within the scope of protection of the present application. Therefore, the scope of protection of the present application should be limited to the scope of protection of the claims.

Claims

1. A GNSS distributed jamming method based on slope optimal point in three-dimensional space, characterized in that, Comprise: Obtain the target area terrain three-dimensional space, discretize the target area terrain three-dimensional space into three-dimensional grid points, the three-dimensional grid points are expressed by three-dimensional coordinates; Each grid point is used as an initial point of the jammer deployment, the slope and slope rate between the initial point of the jammer deployment and the grid points in the specified periphery are obtained according to the point slope calculation rule, and the slope optimal point is selected from the initial point of the jammer deployment as the optional search range of the target point of the jammer deployment through the slope and slope rate; Determine all three-dimensional space grid points not interfered by the jammer, and generate the task area; Select the slope optimal point from the optional search range in turn and determine the maximum coverage range when the jammer is deployed at each slope optimal point, and obtain the three-dimensional space jamming coverage corresponding to the current slope optimal point according to the maximum coverage range; Select the slope optimal point with the maximum three-dimensional space jamming coverage as the target point of the jammer deployment, and determine the interference situation of all grid points in the task area, return all three-dimensional space grid points not interfered by the jammer and regenerate the task area for new jammer deployment position selection until the distributed suppression jamming task index is met, the distributed suppression jamming task index is the jamming coverage threshold index of all grid points in the task area or the jammer deployment number index of the task area.

2. The slope-optimal-point-based three-dimensional space GNSS distributed jamming suppression method according to claim 1, characterized in that, Obtain the target area terrain three-dimensional space, discretize the target area terrain three-dimensional space into three-dimensional grid points, comprising: Three-dimensional modeling of the target area terrain is performed by using the digital elevation model, and a target area three-dimensional terrain model is obtained; The minimum elevation value in the three-dimensional space is obtained according to the target area three-dimensional terrain model, and the elevation limit value of the three-dimensional space is determined in combination with the maximum propagation distance of the jamming signal, the number of points with the same plane coordinates in the three-dimensional space is determined by using the elevation limit value, the elevation resolution and the terrain height of each grid point; The three-dimensional coordinate representation of each three-dimensional grid point is determined based on the plane coordinates and the number of points of the target area three-dimensional terrain.

3. The slope-optimal-point-based three-dimensional space GNSS distributed jamming suppression method according to claim 1, characterized in that, The slope and slope rate between the initial point of the jammer deployment and the grid points in the specified periphery are obtained according to the point slope calculation rule, comprising: The slope between the initial point of the jammer deployment and the grid points in the specified periphery is calculated by using the three-dimensional coordinates and the visible elevation, and the average slope between the initial point of the jammer deployment and the grid points in the specified periphery is obtained according to the slope; The slope rate between the initial point of the jammer deployment and the grid points in the specified periphery is calculated by using the slope and the three-dimensional coordinates.

4. The slope-optimal-point-based three-dimensional space GNSS distributed jamming suppression method according to claim 1 or 3, characterized in that, The slope optimal point is selected from the initial point of the jammer deployment as the optional search range of the target point of the jammer deployment through the slope and slope rate, comprising: The slope optimal points in the specified size range are selected in turn according to the two sorting results; The intersection of the slope optimal points contained in the intersection is taken as the optional search range of the target point of the jammer deployment.

5. The slope-optimal-point-based three-dimensional space GNSS distributed jamming suppression method according to claim 1, characterized in that, Determine the maximum coverage range when the jammer is deployed at each slope optimal point, comprising: The three-dimensional space visual domain analysis is used to obtain the visual coordinates of each grid point from the interference source deployment position layer by layer and outwardly in sequence until the maximum range boundary of the interference of the interference source is obtained when the interference source is deployed at the slope optimal point; The maximum coverage range when the interference source is deployed at the slope optimal point is obtained according to the visual coordinates of each grid point and the maximum range boundary of the interference of the interference source.

6. The slope-optimal-point-based three-dimensional space GNSS distributed jamming suppression method according to claim 1, characterized in that, The three-dimensional space visual domain analysis is used to obtain the visual coordinates of each grid point from the interference source deployment position layer by layer and outwardly in sequence, which comprises: The intersection point of the interference signal emitted by the interference source deployment position and the ground in the direction from the interference source to the interference target point is obtained; If the intersection point is a grid point, the projection height of the target point is obtained according to the three-dimensional coordinates of the interference source deployment position and the three-dimensional coordinates of the intersection point; if the intersection point is not a grid point, the grid points on the two sides adjacent to the intersection point are selected as auxiliary grid points, and a reference surface is constructed by using the three-dimensional coordinates of the interference source deployment position and the three-dimensional coordinates of the auxiliary grid points, and the projection height of the target point is obtained by using the reference surface; The coverage range of the interference signal on the ground is obtained according to the projection height of the target point, and the distribution of the interference signal in the air is obtained by using the visual elevation of the grid point, so as to obtain the maximum coverage range of the interference signal when the interference source is deployed according to the coverage range of the interference signal on the ground and the distribution in the air.

7. The slope-optimal-point-based three-dimensional space GNSS distributed jamming suppression method according to claim 1 or 6, characterized in that, The three-dimensional space interference coverage rate corresponding to the current slope optimal point is obtained according to the maximum coverage range, which comprises: The number of target grid points interfered by the interference source in the maximum coverage range corresponding to the slope optimal point in the task area is obtained; The three-dimensional space interference coverage rate corresponding to the slope optimal point is calculated according to the number of target grid points and the number of grid points in the task area.

8. A GNSS distributed jamming system based on the optimal point of slope in three-dimensional space, characterized in that, It comprises a space discretization module, a range search module, a region division module and a target deployment module, wherein, The space discretization module is used to obtain the three-dimensional space of the target area terrain, and discretize the three-dimensional space of the target area terrain into three-dimensional grid points, wherein the three-dimensional grid points are represented by three-dimensional coordinates; The range search module is used to take each grid point as an interference source deployment initial point, obtain the slope and slope rate between the interference source deployment initial point and the grid points in its specified periphery according to the point slope calculation rule, and select the slope optimal point from the interference source deployment initial point as the selected search range of the interference source deployment target point through the slope and slope rate; The region division module is used to determine all three-dimensional space grid points not interfered by the interference source, and generate a task area; select the slope optimal point from the selected search range in sequence and determine the maximum coverage range when the interference source is deployed at each slope optimal point, and obtain the three-dimensional space interference coverage rate corresponding to the current slope optimal point according to the maximum coverage range; The target deployment module is used to select the slope optimal point with the maximum three-dimensional space interference coverage rate as the target point of the deployed interference source, and determine the interference situation of all grid points in the task area, return all three-dimensional space grid points not interfered by the interference source, and regenerate the task area for new interference source deployment position selection until the distributed suppression interference task index is met, wherein the distributed suppression interference task index is a task area all grid point interference coverage rate threshold index or a task area interference source deployment number index.

9. An electronic device, comprising: It comprises: at least one processor, and a memory coupled with the at least one processor; wherein the memory stores a computer program, and the computer program is capable of being executed by the at least one processor to implement the method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is capable of being executed to implement the method according to any one of claims 1-7.

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