Global navigation satellite system local interference detection device

Abstract

The invention provides a local interference detection device for a global navigation satellite system. The local interference detection device comprises signal detection equipment, a gateway and a processing server, wherein the signal detection equipment is used for carrying out quality detection and data conversion on a received satellite signal, and sending the detected and converted data to the processing server through the gateway; and the processing server is used for performing satellite signal interference sign identification, deception feature identification and interference source positioning according to the detected and converted data to obtain an identification and positioning result. According to the invention, satellite signals can be received and processed and are wirelessly transmitted to the processing server through the gateway, whether signal interference exists in a specific local area is judged by analyzing the satellite signal quality and telemetry data, and real-time information is provided for a terminal user.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of signal detection, and particularly relates to a global navigation satellite system local interference detection device. BACKGROUND

[0002] At present, most modern systems with positioning, navigation or timing functions rely on global navigation satellite system (GNSS) signals. From simple mobile phone maps to complex aircraft navigation systems, such technologies are used.

[0003] Due to the weak strength of GNSS signals, they are easily affected by various interference sources, including meteorological clouds, high atmospheric electron density, electronic device faults or man-made interference devices. In particular, man-made interference events are increasing. This not only adversely affects commercial aviation, but also endangers the safety of low-altitude economic operations - when GNSS signals are interfered, unmanned aerial vehicles (UAVs) may lose positioning ability, thereby causing accidents.

[0004] In low-altitude economic operations, checking GNSS signal quality before operation is a standard process. However, existing detection is usually performed on the ground, and urban high-rise buildings or hills in rugged terrain may block interference signals. In such environments, the unmanned aerial vehicle is often exposed to the interference environment after flying over buildings or mountains, at which time the aircraft is already in operation. If it loses control due to GNSS interference, it will form a major safety hazard.

[0005] This section aims to provide background or context for the embodiments of the application stated in the claims. The description herein is not admitted to be prior art merely because it is included in this section. SUMMARY

[0006] In view of the problems in the prior art, the present application provides a global navigation satellite system local interference detection device, which can receive and process satellite signals and transmit them to a processing server through a gateway wireless transmission. By analyzing the satellite signal quality and telemetry data, it is determined whether there is signal interference in a specific local area, and real-time information is provided to the end user.

[0007] To solve the above technical problems, the present application provides the following technical solutions:

[0008] The present application provides a global navigation satellite system local interference detection device, comprising: a signal detection device, a gateway and a processing server.

[0009] The signal detection device is configured to detect the quality of the received satellite signal and convert data, and send the converted data to the processing server through the gateway.

[0010] The processing server is configured to identify satellite signal interference signs, spoofing features, and interference sources based on the converted data, and obtain identification and positioning results.

[0011] Further, the signal detection device includes a satellite signal receiving antenna, a satellite signal quality detection module, a central processing unit, a communication module, a communication antenna, and a power supply.

[0012] The satellite signal receiving antenna is configured to receive the satellite signal and convert the satellite signal into a transmission signal and send it to the satellite signal quality detection module. The satellite signal quality detection module is configured to detect the quality of the transmission signal and send it to the central processing unit. The central processing unit is configured to compress the transmission signal data and send it to the communication module. The communication module is configured to convert the compressed transmission signal data into a radio frequency signal and send it to the gateway through the communication antenna. The power supply provides power to the satellite signal receiving antenna, the satellite signal quality detection module, the central processing unit, the communication module, and the communication antenna.

[0013] Further, the signal detection device further includes a device support for supporting the installation of the signal detection device on a mobile carrier.

[0014] Further, the gateway is a receiving station configured to receive data from the signal detection device and relay the data to the processing server.

[0015] Further, the identification and positioning results include whether the satellite signal has interference signs, whether the satellite signal is disturbed by spoofing, and the location of the interference source. The processing server includes an interference detection module, a spoofing detection module, and an interference source positioning module.

[0016] The interference detection module is configured to analyze the quality of the satellite signal based on satellite signal parameters in the converted data to determine whether the satellite signal has interference signs.

[0017] The spoofing detection module is configured to identify spoofing features based on telemetry positioning data in the converted data to determine whether the satellite signal is disturbed by spoofing.

[0018] The interference source positioning module is configured to determine the location of the interference source based on the signal-to-noise ratio parameter in the satellite signal parameters when interference signs exist.

[0019] Further, the interference detection module is specifically configured to determine a signal quality index according to the number of satellites, the satellite elevation angle, the signal-to-noise ratio of the satellite, the acquired reference signal-to-noise ratio, the horizontal dilution of precision and the vertical dilution of precision in the satellite signal parameters; and determine whether the satellite signal has signs of interference according to the signal quality index.

[0020] Further, the spoofing detection module is specifically configured to determine a ratio of a current change value to a historical average change value according to the telemetry positioning data; and determine whether the satellite signal is disturbed by spoofing according to the ratio of the current change value to the historical average change value.

[0021] Further, the interference source positioning module is specifically configured to, when the signs of interference exist, generate a signal-to-noise ratio topology according to the signal-to-noise ratios of the satellites; and identify a global minimum point in the signal-to-noise ratio topology as a position of the interference source.

[0022] Further, the interference detection module is specifically configured to determine whether the satellite signal has signs of interference according to the following formula:

[0023]

[0024] wherein, N sat represents the number of GNSS satellites, θ i represents the elevation angle of the i th satellite, SNR i is the signal-to-noise ratio of the i th satellite, SNR ref is the acquired reference signal-to-noise ratio, HDOP and VDOP represent the horizontal dilution of precision and the vertical dilution of precision respectively, x, y and z are weight coefficients; SQI represents the signal quality index; when the SQI exceeds a threshold value, it is determined that the satellite signal has signs of interference.

[0025] Further, the spoofing detection module is specifically configured to determine whether the satellite signal is disturbed by spoofing according to the following formula:

[0026]

[0027] wherein, X represents an acquired arbitrary parameter, X t represents a current value of the parameter, X t-1 is a parameter value at a previous moment, N represents a total amount of available data of the parameter, X i represents a parameter value at a preset moment, X i-1 is a parameter value at a previous moment at the moment; SI represents a parameter ratio relationship; when the SI exceeds a threshold value, it is determined that the satellite signal is disturbed by spoofing.

[0028] Further, the processing server further comprises a database for storing the interference evidence determination result output by the interference detection module, the spoofing disturbance determination result output by the spoofing detection module and the interference source positioning result output by the interference source positioning module.

[0029] Further, the processing server further comprises a human-computer interaction interface for displaying the interference evidence determination result, the spoofing disturbance determination result and the interference source positioning result in real time.

[0030] In view of the problems in the prior art, the global navigation satellite system local interference detection device provided by the application can receive and process satellite signals, and transmit the processed satellite signals to a processing server in a wireless manner through a gateway, determine whether signal interference and spoofing exist in a specific local area by analyzing the quality of the satellite signals and the telemetry data of a vehicle (including a drone), and provide real-time information to a terminal user, thereby providing a localized satellite signal interference detection solution for low-altitude operators, and realizing interference protection and accident responsibility tracing through satellite signal quality monitoring in the whole operation cycle (before operation, during operation and after operation). BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only constitute some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0032] Figure 1 FIG. 1 is a schematic diagram of the overall composition of the local GNSS interference detection system in the embodiments of the application;

[0033] Figure 2 FIG. 2 is a schematic diagram of each component constituting the local GNSS interference detection system in the embodiments of the application;

[0034] Figure 3 FIG. 3 is a typical installation and configuration scheme of the signal detection device on an aircraft in the embodiments of the application;

[0035] Figure 4 FIG. 4 is a specific implementation and internal composition of the signal detection device in the embodiments of the application;

[0036] Figure 5 FIG. 5 is an example of each processing flow running in the processing server in the embodiments of the application;

[0037] Figure 6 FIG. 6 is a complete flow path of data in the entire system in the embodiments of the application;

[0038] Figure 7 This is an example of the internal processing flow of the interference detection module in the embodiments of this application;

[0039] Figure 8 This is an example of the operation flow of the deception detection module in this application embodiment;

[0040] Figure 9 This is an example of the processing flow in the interference source localization module in the embodiments of this application. Detailed Implementation

[0041] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0042] In one embodiment, see Figure 1 , Figure 2 In order to receive and process satellite signals and wirelessly transmit them to a processing server via a gateway, determine whether signal interference exists in a specific local area by analyzing satellite signal quality and telemetry data, and provide real-time information to end users, this application provides a local interference detection device for a global navigation satellite system, including: a signal detection device 102-1, a gateway, and a processing server; wherein, the signal detection device 102-1 is used to perform quality detection and data conversion on the received satellite signals, and send the detected and converted data to the processing server through the gateway; the processing server is used to identify satellite signal interference signs, spoofing features, and interference source location based on the detected and converted data, and obtain the identification and location results.

[0043] Understandably, this application provides a system for detecting GNSS interference in localized areas. The system is compact and lightweight, and can be mounted on various vehicles, including drones. This special design enables vehicles equipped with the system to maintain stable travel (including flight) in GNSS-denied environments, thereby safely traversing the operational areas (including airspace) of vehicles, including drones. Simultaneously, the system also supports ground deployment.

[0044] See Figure 2 The system mainly includes signal detection device 102-1 (the carrier of signal detection device 102-1 can be...) Figure 1The signal detection device 102-1, the gateway 103 and the processing server 104. Among them, the signal detection device 102-1 is responsible for receiving the GNSS signals of the satellite constellation, extracting the effective information therefrom and performing compression processing, and then wirelessly transmitting the corresponding data to the receiving gateway 103 through the radio frequency transmission channel. The gateway 103, as a bridge between the signal detection device 102-1 and the processing server 104, can be realized in the form of a single station or a multi-station network. After establishing a wireless connection with the signal detection device 102-1 and receiving data, it forwards the required data to the processing server 104 through wired or wireless means.

[0045] Referring to Figure 2 , the processing server 104 is a computer equipped with an interference detection module 104a, a spoofing detection module 104b, an interference source positioning module 104c, a database 104d and a human-computer interaction interface 104e. The interference detection module 104a monitors the signs of satellite navigation interference in real time through the GNSS signals (including quality parameters) received by the signal detection device 102-1. The spoofing detection module 104b analyzes the positioning data calculated based on the GNSS signals to identify abnormal jumps that may be caused by spoofing devices (which can be understood as devices intentionally causing interference). The interference source positioning module 104c estimates the location of the interference source when the interference detection module 104a detects signs of interference. The database 104d stores the raw data of the signal detection device 102-1 and the processing results of each module. The human-computer interaction interface 104e is responsible for displaying all the data generated by the system to the terminal user 105 in real time. When GNSS interference is detected, the interface will immediately trigger an alarm prompt and simultaneously display the predicted evaluation results of the interference intensity.

[0046] Specifically, Figure 1 The overall architecture of the system is shown: signals from one or more GNSS constellations 101 are received and processed by the signal detection device 102-1, transmitted to the processing server 104 through the gateway (ground station) 103. The system output signals and telemetry data of the signal detection device 102-1 will be displayed to the terminal user 105 in real time.

[0047] From the above description, the global navigation satellite system local interference detection device provided by the present application can receive and process satellite signals, and transmit the processed satellite signals to the processing server in a wireless manner through the gateway. By analyzing the quality of the satellite signals and the telemetry data of the vehicle (including the unmanned aerial vehicle), it is determined whether there is signal interference and spoofing in a specific local area, and real-time information is provided to the terminal user. The present application provides a localized satellite signal interference detection solution for low-altitude operators, and realizes interference protection and accident responsibility tracing through satellite signal quality monitoring during the whole operation period (before operation, during operation and after operation).

[0048] In one embodiment, referring to Figure 3 , Figure 4 , the signal detection device 102-1 comprises a satellite signal receiving antenna (also referred to as GNSS receiving antenna 102-1a), a satellite signal quality detection module (also referred to as GNSS module 102-1b, which can be implemented by NEO-M8N but is not limited thereto), a central processing unit 102-1c, a communication module 102-1d, a communication antenna 102-1e, and a power supply 102-1f. The satellite signal receiving antenna 102-1a is configured to receive the satellite signal and convert the satellite signal into a transmission signal and send the transmission signal to the satellite signal quality detection module 102-1b. The satellite signal quality detection module 102-1b is configured to detect the quality of the transmission signal and send the transmission signal to the central processing unit 102-1c. The central processing unit 102-1c is configured to compress the data of the transmission signal and send the data to the communication module 102-1d. The communication module 102-1d is configured to convert the data of the transmission signal into a radio frequency signal and send the radio frequency signal to the gateway 103 through the communication antenna 102-1e. The power supply 102-1f is configured to supply power to the satellite signal receiving antenna 102-1a, the satellite signal quality detection module 102-1b, the central processing unit 102-1c, the communication module 102-1d, and the communication antenna 102-1e. The signal detection device 102-1 further comprises a device support 102-1g configured to support the installation of the signal detection device 102-1 on a mobile carrier (e.g., an aircraft 102).

[0049] It can be understood that the local GNSS interference detection system can achieve ground and air GNSS signal quality inspection, transmit information wirelessly, and issue an alarm to the end user when a GNSS interference event is detected.

[0050] Figure 2 An example configuration is shown in which the signal detection device 102-1 is installed on the top of the aircraft 102, which has the capability of detecting local GNSS interference on the ground and in the air. Figure 3The constituent components of the device are shown, including but not limited to: GNSS receiving antenna 102-1a (used to receive GNSS signals and convert them into electrical transmission signals to GNSS module 102-1b), GNSS module 102-1b (capable of processing signals to calculate telemetry data and measure GNSS signal quality). Data is then sent to central processing unit 102-1c (controls all other modules in the device and converts GNSS data into compressed format), which is then transmitted to communication module 102-1d (converts compressed data into radio frequency signals and broadcasts them through communication antenna 102-1e). Power supply 102-1f powers all components of the device, while device mount 102-1g is an optional component used to ensure the device remains secure when mounted to a carrier. In one embodiment of the system, the device can be fully integrated into other vehicles / systems such as unmanned aerial vehicles.

[0051] In particular, the GNSS constellation 101 employed by the present system can be any satellite navigation system. The system can simultaneously receive signals from multiple satellites of one or more GNSS constellations.

[0052] Signal detection device 102-1 is a device capable of receiving GNSS signals, analyzing signal quality, calculating its own position and telemetry data from the signals, and wirelessly transmitting the data to a gateway for subsequent processing. Signal detection device 102-1 can be adapted to be mounted or carried on various objects or mounts.

[0053] Signal detection device 102-1 can be operated on the ground or carried on an aircraft 102. Such an aircraft can be manned or unmanned, and its payload must not be less than the self-weight of signal detection device 102-1. Aircraft 102 should have the ability to control or monitor manually / autonomously fly by wireless means, and ideally should be equipped with a safety backup system to ensure safe and stable flight when the GNSS signal quality is poor.

[0054] The GNSS receiving antenna 102-1a carried by the device is a specially optimized antenna device designed specifically for capturing and / or amplifying signals in the frequency bands emitted by multiple GNSS constellation satellites and converting them into electrical transmission signals. The antenna 102-1a is capable of simultaneously receiving multiple satellite signals from different GNSS constellations 101 in one or more frequency bands.

[0055] GNSS module 102-1b on signal detection device 102-1 receives electrical signals from GNSS receiving antenna 102-1a, decodes them into messages in a specific format, and uses these message data to calculate its own position and measure GNSS signal quality indicators (see Figure 6The messages follow a standard format, including but not limited to the following parameters: time, latitude, longitude, altitude, GNSS positioning quality, number of visible satellites, satellite azimuth, satellite elevation, horizontal dilution of precision (HDOP), vertical dilution of precision (VDOP), and signal-to-noise ratio (SNR). The module can employ satellite-based augmentation systems (SBAS) or real-time kinematic (RTK) positioning techniques to further improve positioning accuracy, while also setting GNSS signal reception parameters, including but not limited to selecting the constellation system, frequency band, and measurement rate of the received signals.

[0056] The central processing unit 102-1c is the main control system of the device, which contains software programs for running the entire device. The central processing unit 102-1c performs logical operations by sending instructions to other modules, including but not limited to data conversion, message formatting, and timing control operations. One of its core functions is to obtain message data from the GNSS module 102-1b, reorganize the data according to a specific radio frequency protocol (see S602 in Figure 6 ), and then send it to the communication module 102-1d for transmission.

[0057] The communication module 102-1d receives data from the central processing unit 102-1c and converts it into a telecommunication signal that can be broadcast in the form of radio waves (see S603 in Figure 6 ) through the communication antenna 102-1e. The communication module 102-1d and the antenna can use any radio frequency protocol to transmit data, and in some embodiments, LoRa, WiFi, 2G, 3G, 4G, or 5G frequency bands can be used for data transmission. To reduce the impact of radio frequency interference on transmission, the communication module 102-1d can use frequency hopping or linear frequency modulation techniques.

[0058] In one embodiment, referring to Figure 3 , the gateway is a receiving station that receives data from the signal detection device and relays the data to the processing server.

[0059] It can be understood that the gateway 103 is one or more receiving stations that receive data transmission from the signal detection device 102 and relay the data to the processing server. The gateway must be located within the transmission range of the device and can be installed permanently on the ground or in a mobile and portable form to ensure that it is always within the effective transmission distance. The gateway 103 needs to have the same frequency band radio signal reception capability as the signal detection device 102. After receiving the data, the gateway 103 forwards the data to the processing server through wired or wireless connection (see S604 in Figure 6 ).

[0060] In one embodiment, referring to Figure 5 , Figure 6, the identification positioning result comprises whether the satellite signal has a disturbance sign, whether the satellite signal is disturbed by spoofing, and a position of a disturbance source; the processing server comprises an interference detection module, a spoofing detection module, and a disturbance source positioning module;

[0061] The interference detection module is configured to analyze the quality of the satellite signal according to the satellite signal parameters in the converted data, to determine whether the satellite signal has a disturbance sign.

[0062] The spoofing detection module is configured to identify spoofing features according to the telemetry positioning data in the converted data, to determine whether the satellite signal is disturbed by spoofing.

[0063] The disturbance source positioning module is configured to determine the position of the disturbance source according to a signal-to-noise ratio parameter in the satellite signal parameters when the disturbance sign exists.

[0064] It can be understood that the processing server 104 is a core data processing unit of the system, and integrates the interference detection module 104a, the spoofing detection module 104b, the disturbance source positioning module 104c, the database 104d, and the human-computer interaction interface 104e. The processing server 104 processes the data from the gateway 103, judges whether a GNSS interference or spoofing event occurs, and displays the processing result to the terminal user S605 in real time through the interface.

[0065] Figure 5 The internal module composition of the processing server 104 is shown. The data from the gateway 103 will be received and distributed to all modules in the processing server 104. The interference detection module 104a is responsible for analyzing the signal quality parameters in the data to detect GNSS interference signs; the spoofing detection module 104b identifies spoofing features by analyzing the telemetry and positioning data of the GNSS signal solution; the disturbance source positioning module 104c analyzes the signal quality parameters and estimates the position of the disturbance source during positive detection (when the existence of the disturbance sign is detected); the database 104d serves as a system storage unit, and saves all received GNSS data and the output results of each module; finally, all data is displayed to the terminal user 105 in real time through the human-computer interaction interface 104e.

[0066] In an embodiment, referring to Figure 7 The interference detection module is specifically configured to determine a signal quality index according to the number of satellites, the satellite elevation angle, the signal-to-noise ratio of the satellite, the reference signal-to-noise ratio obtained, the horizontal dilution of precision, and the vertical dilution of precision in the satellite signal parameters; and determine whether the satellite signal has a disturbance sign according to the signal quality index.

[0067] It can be understood that the interference detection module 104a receives data from the signal detection device through the gateway 103 (seeFigure 7 S701), and extract parameters related to GNSS signal quality (see S702 in Figure 7 . In one embodiment, the module employs a self-defined signal quality index (SQI) to determine the presence of interference (see S703 in Figure 7 . The formula can be expressed as:

[0068]

[0069] In the formula, N sat represents the number of available GNSS satellites, θ i represents the elevation angle of the i-th satellite, SNR i is the signal-to-noise ratio of the i-th satellite, SNR ref is the reference signal-to-noise ratio obtained through experiments, HDOP and VDOP represent the horizontal and vertical dilution of precision, respectively, and x, y, z are adjustable weight coefficients for controlling the contribution of each term. When the result of signal quality index (SQI) calculation exceeds a certain threshold (see S704 in Figure 7 , the system determines the presence of GNSS interference and assesses its strength level, and the final detection result is transmitted to the database for storage (see S705 in Figure 7 .

[0070] In one embodiment, referring to Figure 8 , the spoofing detection module is specifically configured to determine a ratio of a current variation value to a historical average variation value according to the telemetry positioning data, and determine whether the satellite signal is subjected to spoofing disturbance according to the ratio of the current variation value to the historical average variation value.

[0071] It can be understood that the spoofing detection module 104b also receives data from the signal detection device 102 through the gateway 103 (see S801 in Figure 8 . The spoofing detection module 104b extracts the positioning and timing data calculated from the GNSS signal to determine whether a spoofing signal exists. In a single detection cycle, the spoofing detection module 104b monitors a spoofing indication parameter (SI) that can capture abnormal jumps in device telemetry data (see S802 in Figure 8 . The mathematical expression is as follows:

[0072]

[0073] where X represents any parameter monitored by the module (such as latitude, longitude, altitude, or time), X t represents the current value of the parameter, X t-1 is the parameter value at the previous moment, N represents the total amount of available data for the parameter, and X i represents the parameter value at a specific moment.i-1 where is the previous parameter value at the time, i is a certain past timeframe, and t is the current timeframe. The formula essentially expresses the ratio relationship between the current change value of the parameter and the historical distribution of change.

[0074] When the SI value of any parameter exceeds the preset threshold, the parameter will be marked as a potential fraud target, and the fraud detection module 104b will perform clustering analysis with the latest marked value of the parameter as the clustering starting point (see S803 in Figure 8 If the subsequent values of the marked parameter can form a cluster of a predetermined size, the fraud detection module 104b will output a fraud confirmation signal (see S804 in Figure 8 , and the final result will be transmitted to the database 104d for storage (see S805 in Figure 8 ).

[0075] In an embodiment, referring to Figure 9 , the interference source positioning module is specifically configured to, when the interference indication exists, generate a signal-to-noise ratio (SNR) topology map according to the SNR of the satellite; and identify a global minimum point in the SNR topology map as the position of the interference source.

[0076] It can be understood that the interference source positioning module 104c is automatically activated when the interference detection module 104a outputs a valid detection signal (see S901 in Figure 9 , which indicates that a GNSS interference event exists. The operator can also manually activate the interference source positioning module 104c. After the interference source positioning module 104c is activated, it will instruct the signal detection device 102 to start the interference source search operation (see S902 in Figure 9 ), by generating an SNR topology map and identifying a global minimum value as the estimated position of the interference source (see S903 in Figure 9 ). The specific search method will be different according to the type of GNSS receiving antenna equipped by the device.

[0077] In an embodiment, the device is equipped with an omnidirectional receiving antenna, and the search will be performed in a predetermined grid search mode. When the device moves along the search mode, the position information and the SNR value will be returned to the processing server 104 for generating the SNR topology map. After the search mode and the map construction are completed, the processing server 104 will analyze the map using the gradient descent algorithm, and the global minimum point identified will be marked as the estimated position of the interference source.

[0078] In another embodiment, the device is equipped with a directional receiving antenna, and will perform an omnidirectional rotational search along the vertical axis to conduct signal scanning, and record the surrounding SNR values. The position information and SNR curve will be transmitted back to the processing server 104 for generating an SNR topological map with a vector pointing to the direction of the lowest SNR. The processing server 104 will instruct the device to move a specified distance towards the direction of the lowest SNR, and repeat the rotational search to determine the next lowest SNR vector. This process will be repeated until a predetermined number of iterations is reached, or the global minimum of the SNR topological map is identified. If it is determined that the global minimum is located outside of the topological map and / or the allowed search area, an estimated area will be provided. The module can require the device to perform different search modes or repeat the same mode to improve the positioning accuracy (see S904 in Figure 9 FIG. 6). This search mode can also be accomplished by multiple devices in coordination.

[0079] Upon completion of the identification of the global minimum of the SNR topological map, the interference source positioning module 104c will output the estimated location of the interference source (see S905 in Figure 9 FIG. 6), and transmit the result to the database storage (see S906 in Figure 9 FIG. 6).

[0080] In one embodiment, referring to Figure 5 , the processing server further comprises a database for storing the interference indication determination results output by the interference detection module, the spoofing disturbance determination results output by the spoofing detection module, and the interference source positioning results output by the interference source positioning module.

[0081] It is understood that the database 104d stores all the data collected and generated by the signal detection devices and the modules of the processing server (see S606 in Figure 6 FIG. 6). The database 104d retains all the data for at least three months for subsequent review. During this period, the data can be copied or transferred to other computers as needed. The database 104d can be deployed on the same host as the processing server 104, or installed on a separate computer for operation.

[0082] In one embodiment, referring to Figure 5 , the processing server further comprises a human-computer interaction interface for displaying the interference indication determination results, the spoofing disturbance determination results, and the interference source positioning results in real time.

[0083] It is understood that the human-computer interaction interface 104e displays all the data generated by the system and stored in the database 104d in real time (see S607 in Figure 6 FIG. 6), allowing the end user 105 to view the data in real time and perform interactive operations (see Figure 6The human-machine interface 104e can be in the form of a graphical user interface (GUI) or a webpage, which presents the telemetry data of the signal detection device 102-1 and the GNSS signal quality indicators, and triggers an alert when an interference or spoofing event is detected (S608 in FIG. 6). The data support can be presented in various forms, such as a map display, a text log, or a time line with playback function. The end user 105 can be a single person or multiple persons, who receive the output information from the processing server 104 through self-selected devices, including but not limited to mobile phones, computers, and other terminal types.

[0084] Each of the embodiments in the specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments.

[0085] The above describes specific embodiments of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different than the order in which they are recited in the embodiments and still achieve desirable results. In addition, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order, to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous.

[0086] Each of the embodiments in the specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the specification. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, a person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0087] The above only describes the embodiments of the embodiments of the specification and does not limit the embodiments of the specification. The embodiments of the specification can have various changes and variations for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the embodiments of the specification shall be included in the scope of claims of the embodiments of the specification.

Claims

1. A device for detecting local interference in a global navigation satellite system, characterized in that, include: Signal detection equipment, gateways, and processing servers; The signal detection device is used to perform quality detection and data conversion on the received satellite signals, and send the detected and converted data to the processing server through the gateway; The processing server is used to identify satellite signal interference signs, spoofing features, and interference sources based on the detected and converted data, and to obtain the identification and location results.

2. The global navigation satellite system local interference detection device according to claim 1, characterized in that, The signal detection equipment includes a satellite signal receiving antenna, a satellite signal quality detection module, a central processing unit, a communication module, and a communication antenna; The satellite signal receiving antenna is used to receive the satellite signal, convert the satellite signal into a transmission signal, and send it to the satellite signal quality detection module; the satellite signal quality detection module is used to perform quality detection on the transmission signal and send it to the central processing unit; the central processing unit compresses the transmission signal and sends it to the communication module; the communication module converts the compressed transmission signal into a radio frequency signal and sends it to the gateway through the communication antenna.

3. The global navigation satellite system local interference detection device according to claim 1, characterized in that, The identification and positioning results include whether there are signs of interference in the satellite signal, whether the satellite signal is subject to deception and disturbance, and the location of the interference source; the processing server includes an interference detection module, a deception detection module, and an interference source positioning module; The interference detection module is used to analyze the quality of the satellite signal based on the satellite signal parameters in the detected and converted data, so as to determine whether there are signs of interference in the satellite signal. The deception detection module is used to identify deception features based on the telemetry positioning data in the detected and converted data, so as to determine whether the satellite signal is subject to deception disturbance; The interference source localization module is used to determine the location of the interference source based on the signal-to-noise ratio parameter in the satellite signal parameters when interference signs are present.

4. The global navigation satellite system local interference detection device according to claim 3, characterized in that, The interference detection module is specifically used to determine a signal quality index based on the number of satellites, satellite elevation angle, satellite signal-to-noise ratio, acquired reference signal-to-noise ratio, horizontal accuracy factor, and vertical accuracy factor in the satellite signal parameters; and to determine whether there are signs of interference in the satellite signal based on the signal quality index.

5. The global navigation satellite system local interference detection device according to claim 3, characterized in that, The deception detection module is specifically used to determine the ratio of the current change value to the historical average change value based on the telemetry positioning data; and to determine whether the satellite signal has been subjected to deception disturbance based on the ratio of the current change value to the historical average change value.

6. The global navigation satellite system local interference detection device according to claim 4, characterized in that, The interference source localization module is specifically used to generate a signal-to-noise ratio topology map based on the signal-to-noise ratio of the satellite when interference signs exist; and to identify the global minimum point in the signal-to-noise ratio topology map as the location of the interference source.

7. The global navigation satellite system local interference detection device according to claim 4, characterized in that, The interference detection module determines whether there are signs of interference in the satellite signal based on the following formula: Where, N sat θ represents the number of GNSS satellites. i SNR represents the elevation angle of the i-th satellite. i It is the signal-to-noise ratio (SNR) of the i-th satellite. ref For the obtained baseline signal-to-noise ratio, HDOP and VDOP represent the horizontal precision factor and vertical precision factor, respectively, and x, y, and z are all weighting coefficients; SQI represents the signal quality index; when SQI exceeds the threshold, it is determined that the satellite signal has signs of interference.

8. The global navigation satellite system local interference detection device according to claim 4, characterized in that, The deception detection module determines whether the satellite signal has been subjected to deception interference based on the following formula: Where X represents any parameter obtained, X t This represents the current value of the parameter, X. t-1 The parameter value is from the previous moment, N represents the total amount of available data for that parameter, and X represents the value from the previous moment. i X represents the parameter value at the preset time. i-1 This is the parameter value of the previous moment; SI represents the parameter ratio relationship; when SI exceeds the threshold, it is determined that the satellite signal has been subjected to deception disturbance.

9. The global navigation satellite system local interference detection device according to claim 3, characterized in that, The processing server also includes a database for storing the interference sign determination results output by the interference detection module, the deception disturbance determination results output by the deception detection module, and the interference source location results output by the interference source location module.

10. The global navigation satellite system local interference detection device according to claim 9, characterized in that, The processing server also includes a human-computer interaction interface for displaying the interference sign determination result, the deception disturbance determination result, and the interference source location result in real time.

Images