Satellite signal spoofing jamming method and device for satellite navigation system and satellite navigation system

Abstract

The application discloses a satellite signal deception interference method and device for a satellite navigation system and a satellite navigation system, and belongs to the technical field of satellite navigation application. The satellite signal deception interference method comprises the following steps: acquiring a first precision geometric factor corresponding to a first visible satellite set, wherein the first visible satellite set is a set of multiple visible satellites, and the visible satellites are selected from multiple satellites; determining a visible satellite in the first visible satellite set which has an influence on the first precision geometric factor, so as to obtain a target visible satellite in the first visible satellite set; acquiring a real satellite signal of the target visible satellite; generating a target deception satellite signal corresponding to the real satellite signal according to the real satellite signal and the first precision geometric factor; and sending the target deception satellite signal to a receiver. The application can reduce the consumption of computing resources.

Description

Technical Field

[0001] This application relates to the field of satellite navigation application technology, specifically to a satellite signal deception and jamming method, device, and satellite navigation system for satellite navigation systems. Background Technology

[0002] In satellite navigation systems, time spoofing attacks are a method of attack that interferes with the time synchronization function of a target receiver, causing it to generate incorrect time information. Existing technologies typically employ full-channel time spoofing attacks, generating and transmitting spoofed satellite signals corresponding to all real satellite signals, covering all receiving channels of the target receiver to achieve the time spoofing attack. However, existing technologies require the synchronous adjustment of signal parameters (such as code phase, carrier frequency, and Doppler shift) of the real satellite signals corresponding to all satellites, and this synchronization adjustment process consumes significant computational resources. Therefore, existing technologies suffer from the problem of high computational resource consumption. Summary of the Invention

[0003] The purpose of this application is to provide a satellite signal deception and interference method, apparatus, and satellite navigation system for satellite navigation systems, in order to solve the problem of high computational resource consumption in the prior art.

[0004] To achieve the above objectives, the first aspect of this application provides a satellite signal spoofing and jamming method for a satellite navigation system. The satellite navigation system includes multiple satellites, a receiver, and a spoofing device. The satellite signal spoofing and jamming method is executed on the spoofing device, and the satellite signal spoofing and jamming method includes:

[0005] Obtain the first precision geometric factor corresponding to the first set of visible satellites, wherein the first set of visible satellites is a set of multiple visible satellites, and the visible satellites are selected from the multiple satellites;

[0006] Identify the visible satellites in the first set of visible satellites that affect the first precision geometric factor, so as to obtain the target visible satellites in the first set of visible satellites;

[0007] Acquire real satellite signals from target-visible satellites;

[0008] Based on the real satellite signal and the first precision geometric factor, generate the target deception satellite signal corresponding to the real satellite signal;

[0009] The target sends a deceptive satellite signal to the receiver.

[0010] In this embodiment of the application, the determination of the first visible satellite set includes: acquiring historical satellite signal reception data of the receiver and the real-time elevation angle value of each satellite relative to the receiver; determining the preferred satellite type of the receiver based on the historical satellite signal reception data; and determining multiple visible satellites among the multiple satellites based on the real-time elevation angle value, so as to obtain the first visible satellite set based on the multiple visible satellites, wherein the visible satellites are satellites whose real-time elevation angle value is greater than the elevation angle threshold value corresponding to the preferred satellite type.

[0011] In this embodiment of the application, determining the visible satellites in the first visible satellite set that have an impact on the first precision geometric factor, in order to obtain the target visible satellite in the first visible satellite set, includes: determining multiple second visible satellite sets based on the first visible satellite set, wherein the second visible satellite set is the set of visible satellites remaining after removing candidate visible satellites from the first visible satellite set, and the candidate visible satellites are each visible satellite in the first visible satellite set; determining the second precision geometric factor corresponding to each second visible satellite set; determining the influence score corresponding to each candidate visible satellite based on the first precision geometric factor and each second precision geometric factor, wherein the influence score is the absolute value of the difference between the first precision geometric factor and the second precision geometric factor; and determining the target visible satellite among the multiple candidate visible satellites based on the influence score.

[0012] In this embodiment of the application, determining the target visible satellite among multiple candidate visible satellites based on the influence score includes: determining the candidate visible satellites among multiple candidate visible satellites whose influence score is greater than a preset influence score, so as to obtain the target visible satellite.

[0013] In this embodiment, generating a target deception satellite signal corresponding to the real satellite signal based on the real satellite signal and a first precision geometric factor includes: initially adjusting preset time-related parameters in the real satellite signal to obtain an initial deception satellite signal; acquiring a first current time deviation between the current clock time of the deception device and the current clock time of the receiver, the current relative state parameters of the target visible satellite relative to the receiver, and the current elevation angle of the target visible satellite, wherein the current relative state parameters include the current pseudorange between the target visible satellite and the receiver, the current elevation angle of the target visible satellite relative to the receiver, and a second current time deviation between the current clock time of the target visible satellite and the current clock time of the receiver; and adjusting the target deception satellite signal based on the first current time deviation and the first precision geometric factor. The return value corresponding to the initial deceiving satellite signal is determined by using the degree geometric factor and the second current time deviation. The sum of the products of the first current time deviation, the second current time deviation, the first precision geometric factor, the current relative state parameter, and the current elevation angle with their respective preset scoring weight coefficients is determined to obtain the effectiveness score value corresponding to the initial deceiving satellite signal. If the effectiveness score value is less than the preset effectiveness score threshold or the return value is less than the preset return value threshold, the preset parameters in the real satellite signal are readjusted until the return value corresponding to the adjusted deceiving satellite signal is greater than or equal to the preset return value threshold and the effectiveness score value corresponding to the adjusted deceiving satellite signal is greater than or equal to the preset effectiveness score threshold, so as to obtain the target deceiving satellite signal.

[0014] In this embodiment, determining the reward value corresponding to the initial spoofing satellite signal based on the first current time deviation, the first precision geometric factor, and the second current time deviation includes: obtaining the previous precision geometric factor corresponding to the historical visible satellite set at the previous moment, the previous time deviation between the previous clock time of the target visible satellite and the previous clock time of the receiver, and the previous receiver operating status parameters of the receiver; determining the deviation between the second current time deviation and the previous time deviation to obtain the clock error jump value; determining the rate of change of the precision geometric factor based on the previous precision geometric factor and the first precision geometric factor; and determining the reward value based on the first current time deviation, the clock error jump value, the rate of change of the precision geometric factor, and the previous receiver operating status parameters.

[0015] In this embodiment, determining the reward value based on a first current time deviation, a clock error jump value, a rate of change of the precision geometric factor, and the operating state parameters of the previous receiver includes: determining a first reward value based on the first current time deviation and a preset current time deviation, wherein if the first current time deviation is greater than or equal to the preset current time deviation, the first reward value is determined to be a first preset reward value; if the first current time deviation is less than the preset current time deviation, the first reward value is determined to be zero; and determining a second reward value based on a clock error jump value and a preset clock error jump threshold, wherein if the clock error jump value is less than the preset clock error jump threshold, the second reward value is determined to be a second preset reward value; if the clock error jump value is greater than or equal to the preset clock error jump threshold, the second reward value is determined to be zero. Based on the rate of change of the precision geometric factor and the preset rate of change of the precision geometric factor, a third return value is determined. If the rate of change of the precision geometric factor is less than the preset rate of change of the precision geometric factor, the third return value is determined to be the third preset return value. If the rate of change of the precision geometric factor is greater than or equal to the preset rate of change of the precision geometric factor, the third return value is determined to be zero. Based on the operating state parameters of the previous receiver and the preset operating state parameters, a fourth return value is determined. If the operating state parameters of the previous receiver are equal to the preset operating state parameters, the fourth return value is determined to be zero. If the operating state parameters of the previous receiver are not equal to the preset operating state parameters, the fourth return value is determined to be the fourth preset return value. The sum of the first, second, third, and fourth return values ​​is determined to obtain the return value.

[0016] A second aspect of this application provides a deception device, comprising: a memory configured to store instructions; and a processor configured to retrieve the instructions from the memory and, when executing the instructions, to implement the satellite signal deception and interference method for a satellite navigation system described above.

[0017] A third aspect of this application provides a satellite navigation system, comprising: a plurality of satellites; a receiver; and the deception device described above.

[0018] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the satellite signal deception and jamming method for a satellite navigation system described above.

[0019] The above technical solution obtains the target visible satellite by filtering the visible satellites in the first visible satellite set. Compared with the existing technology, it does not require adjustment of the real satellite signals of all satellites. It only needs to generate a deceptive satellite signal based on the real satellite signal of the target visible satellite and the first precision geometric factor corresponding to the first visible satellite set, and send the deceptive satellite signal to the receiver. This achieves time deception while greatly reducing the consumption of computing resources.

[0020] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0021] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0022] Figure 1 The illustration shows a schematic flowchart of a satellite signal deception and jamming method for a satellite navigation system according to an embodiment of this application;

[0023] Figure 2 The diagram illustrates a structural schematic of a satellite navigation system according to an embodiment of this application. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0025] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0026] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0027] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0028] Figure 1 The illustration schematically shows a flow chart of a satellite signal deception and jamming method for a satellite navigation system according to an embodiment of this application. Figure 1 As shown, this application provides a satellite signal spoofing and jamming method for a satellite navigation system. The satellite navigation system includes multiple satellites, a receiver, and a spoofing device. The satellite signal spoofing and jamming method is executed on the spoofing device and may include the following steps:

[0029] Step S101: Obtain the first precision geometric factor corresponding to the first set of visible satellites, wherein the first set of visible satellites is a set of multiple visible satellites, and the visible satellites are selected from the multiple satellites.

[0030] Step S102: Determine the visible satellites in the first set of visible satellites that affect the first precision geometric factor, so as to obtain the target visible satellites in the first set of visible satellites.

[0031] Step S103: Obtain the real satellite signal of the target visible satellite.

[0032] Step S104: Generate the target deception satellite signal corresponding to the real satellite signal based on the real satellite signal and the first precision geometric factor.

[0033] Step S105: Send the target deception satellite signal to the receiver.

[0034] It can be understood that the first set of visible satellites is a collection of multiple visible satellites, selected from among them. The Geometric Dilution of Precision (GDOP) is a parameter characterizing the influence of the geometrical relationship between the satellite set and the receiver on positioning accuracy. The first GDOP characterizes the influence of the geometrical relationship between the first set of visible satellites and the receiver on positioning accuracy. The target visible satellites are those within the first set that influence the first GDOP. The real satellite signal is the unmodified satellite signal transmitted by the target visible satellite. The target spoofing satellite signal is false satellite information similar to the real satellite signal, used to induce the receiver to calculate incorrect positioning, navigation, or timing information. The spoofing device is a device that generates spoofing satellite signals based on real satellite signals. The deception device can receive real satellite signals from multiple satellites and generate a target deception satellite signal corresponding to the real satellite signals. When the receiver receives real satellite signals from multiple satellites, the deception device can send the deception satellite signal to the receiver, interfering with the receiver's accurate acquisition of satellite signal time. This causes a certain time deviation between the receiver's clock time and the standard clock time, thereby achieving time deception.

[0035] Specifically, the first precision geometric factor corresponding to the first set of visible satellites is obtained. The method for determining the first precision geometric factor is as follows: the deception device can pre-obtain the three-dimensional positional relationship between each visible satellite in the first set of visible satellites and the receiver. Based on the three-dimensional positional relationship of each visible satellite, an observation matrix is ​​constructed, thereby determining the cofactor matrix corresponding to the observation matrix. Then, the trace of the inverse matrix corresponding to the cofactor matrix is ​​determined, and the trace is used as the first precision geometric factor corresponding to the first set of visible satellites. Subsequently, the visible satellites in the first set of visible satellites that influence the first precision geometric factor are identified, thus obtaining the target visible satellites in the first set of visible satellites. Further, the real satellite signals of the target visible satellites are obtained. The deception device can, based on a pre-set reinforcement learning algorithm, generate a target deception satellite signal corresponding to the real satellite signal according to the real satellite signal and the first precision geometric factor, and send the target deception satellite signal to the receiver to achieve time deception.

[0036] By using the above technical solution, the visible satellites in the first visible satellite set are screened to obtain the target visible satellite. Compared with the existing technology, it is not necessary to adjust the real satellite signals of all satellites. It is only necessary to generate the target deception satellite signal based on the real satellite signal of the target visible satellite and the first precision geometric factor corresponding to the first visible satellite set, and send the target deception satellite signal to the receiver. This achieves time deception while greatly reducing the consumption of computing resources.

[0037] In this embodiment, determining the first set of visible satellites may include: acquiring historical satellite signal reception data of the receiver and the real-time elevation angle value of each satellite relative to the receiver; determining the preferred satellite type of the receiver based on the historical satellite signal reception data; and determining multiple visible satellites among the multiple satellites based on the real-time elevation angle value, so as to obtain the first set of visible satellites based on the multiple visible satellites, wherein the visible satellites are satellites whose real-time elevation angle value is greater than the elevation angle threshold value corresponding to the preferred satellite type.

[0038] It can be understood that historical satellite signal reception data refers to satellite signal reception data received by the receiver over a long period of time, such as NMEA-0183 protocol data. This NMEA-0183 protocol data may include, but is not limited to, satellite identification information, positioning results, and clock bias. Real-time elevation angle is the elevation angle of the satellite relative to the receiver at the current moment. Preferred satellite type is the type of satellite the receiver prioritizes, such as low-elevation or high-elevation satellites. Visible satellites are those that can be observed by the receiver and whose signals can be received effectively.

[0039] Specifically, the deception device acquires historical satellite signal reception data and real-time elevation angle values ​​of each satellite relative to the receiver. Based on clustering algorithms or other classification analysis methods, it determines the receiver's preferred satellite type according to the historical satellite signal reception data. The processor can also construct a correlation between the receiver and the historical satellite signal reception data, and determine the receiver's preferred satellite type based on this correlation. Further, it determines the elevation angle threshold value corresponding to the satellite of the preferred satellite type, and filters multiple satellites based on this elevation angle threshold value. Satellites with real-time elevation angle values ​​greater than the elevation angle threshold value corresponding to the preferred satellite type are identified as visible satellites, thereby constructing a first visible satellite set based on multiple visible satellites.

[0040] After filtering multiple satellites, visible satellites are obtained, while invisible satellites whose signals cannot directly reach the receiver are filtered out. At the same time, it avoids adjusting the real satellite signals of all satellites and does not consume too many unnecessary computing resources.

[0041] In this embodiment of the application, determining the visible satellites in the first visible satellite set that have an impact on the first precision geometric factor, in order to obtain the target visible satellite in the first visible satellite set, may include: determining multiple second visible satellite sets based on the first visible satellite set, wherein the second visible satellite set is the set of visible satellites remaining after removing candidate visible satellites from the first visible satellite set, and the candidate visible satellites are each visible satellite in the first visible satellite set; determining the second precision geometric factor corresponding to each second visible satellite set; determining the influence score corresponding to each candidate visible satellite based on the first precision geometric factor and each second precision geometric factor, wherein the influence score is the absolute value of the difference between the first precision geometric factor and the second precision geometric factor; and determining the target visible satellite among the multiple candidate visible satellites based on the influence score.

[0042] It can be understood that the second set of visible satellites is the set of visible satellites remaining after removing the candidate visible satellites from the first set of visible satellites. The candidate visible satellites are each visible satellite in the first set of visible satellites. The second precision geometric factor is used to characterize the degree of influence of the geometric positional relationship between the second set of visible satellites and the receiver on positioning accuracy. The influence score is used to characterize the degree of influence of the candidate visible satellites on the precision combination factor of the first set of visible satellites; the influence score is the absolute value of the difference between the first precision geometric factor and the second precision geometric factor.

[0043] Specifically, the deception device determines multiple second sets of visible satellites based on a first set of visible satellites. Each second set of visible satellites is the set of visible satellites remaining after removing one candidate visible satellite from the first set. A second precision geometric factor is determined for each second set of visible satellites, and the absolute value of the difference between the first and second precision geometric factors is determined to obtain the influence score of each candidate visible satellite. Based on these influence scores, the target visible satellite among the candidate visible satellites is further determined.

[0044] By calculating the first and second precision geometric factors, the influence scores of each candidate visible satellite are determined, the degree of influence of each candidate visible satellite on the first precision geometric factor corresponding to the first visible satellite set is clarified, and the target visible satellite is selected, laying the physical foundation for subsequent high-precision time deception.

[0045] In this embodiment of the application, determining the target visible satellite among multiple candidate visible satellites based on the influence score may include: determining candidate visible satellites among multiple candidate visible satellites whose influence score is greater than a preset influence score, so as to obtain the target visible satellite.

[0046] It is understandable that the preset influence score is a pre-set influence score.

[0047] Specifically, the deception device can select candidate visible satellites with an influence score greater than a preset influence score from among multiple candidate visible satellites as the target visible satellite. The deception device can also determine the target visible satellite from among multiple candidate visible satellites based on the influence score and the real-time elevation angle value; this is not limited here. In other words, the deception device filters out visible satellites that affect the first precision geometric factor (visible satellites with low timing accuracy), easily adjusting their real satellite signals to obtain a deception signal corresponding to the real satellite signal, reducing computational resource consumption and achieving the effect of time deception.

[0048] In this embodiment of the application, generating a target deception satellite signal corresponding to the real satellite signal based on the real satellite signal and a first precision geometric factor may include: initially adjusting preset time-related parameters in the real satellite signal to obtain an initial deception satellite signal; acquiring a first current time deviation between the current clock time of the deception device and the current clock time of the receiver, the current relative state parameters of the target visible satellite relative to the receiver, and the current elevation angle of the target visible satellite, wherein the current relative state parameters include the current pseudorange between the target visible satellite and the receiver, the current elevation angle of the target visible satellite relative to the receiver, and a second current time deviation between the current clock time of the target visible satellite and the current clock time of the receiver; and adjusting the first current time deviation, the first... The accuracy geometric factor and the second current time deviation are used to determine the reward value corresponding to the initial deceiving satellite signal. The sum of the products of the first current time deviation, the second current time deviation, the first accuracy geometric factor, the current relative state parameter, and the current elevation angle with their respective preset scoring weight coefficients is determined to obtain the effectiveness score value corresponding to the initial deceiving satellite signal. If the effectiveness score value is less than the preset effectiveness score threshold or the reward value is less than the preset reward value threshold, the preset parameters in the real satellite signal are readjusted until the reward value corresponding to the adjusted deceiving satellite signal is greater than or equal to the preset reward value threshold and the effectiveness score value corresponding to the adjusted deceiving satellite signal is greater than or equal to the preset effectiveness score threshold, so as to obtain the target deceiving satellite signal.

[0049] It can be understood that the preset time-related parameters are time-related signal parameters in the pre-determined real satellite signal, such as code phase and carrier frequency. The initial spoofing satellite signal is a fake satellite signal that is artificially generated and highly similar to the real satellite signal, used to interfere with the receiver's normal time acquisition. The first current time deviation is the time deviation between the current clock time of the spoofing device and the current clock time of the receiver. The current relative state parameters are the state parameters between the target visible satellite and the receiver at the current moment. The current relative state parameters include the current pseudorange between the target visible satellite and the receiver, the current elevation angle of the target visible satellite relative to the receiver, and the second current time deviation (clock difference) between the current clock time of the target visible satellite and the current clock time of the receiver. The reward value is a parameter value used to evaluate the effect of the preset parameter adjustment of the real satellite signal. If the initial spoofing satellite signal obtained after the real satellite signal adjustment can achieve the effect of time deception, the reward value is positive. If the initial spoofing satellite signal cannot achieve the effect of time deception or triggers a receiver alarm, the reward value is negative. The preset scoring weight coefficient is a pre-set scoring weight coefficient. The validity score is used to evaluate the effectiveness of each parameter in achieving time deception at the current moment. The preset validity score threshold is a pre-set validity score threshold.

[0050] Specifically, the deception device first sets preset parameters, preset validity scoring thresholds, and preset scoring weight coefficients to facilitate subsequent parameter calculations. The deception device initially adjusts the preset parameters in the real satellite signal of the target visible satellite to obtain an initial deception satellite signal. It then acquires the first current time deviation between the deception device's current clock time and the receiver's current clock time, the current relative state parameter of the target visible satellite relative to the receiver, and the current elevation angle of the target visible satellite. Based on the first current time deviation, the first precision geometric factor, and the second current time deviation, it determines the reward value corresponding to the initial deception satellite signal. The deception device can determine the sum of the products of the first current time deviation, the second current time deviation, the first precision geometric factor, the current relative state parameter, and the current elevation angle with their respective preset scoring weight coefficients to obtain the validity score value corresponding to the initial deception satellite signal. The deception device can also construct a matrix of the first current time deviation, the second current time deviation, the first precision geometric factor, the current relative state parameter, and the current elevation angle, determine the corresponding matrix value, and use this matrix value as the validity score value. If the validity score is less than the preset validity score threshold or the return value is less than the preset return value threshold, the preset parameters in the real satellite signal are readjusted until the return value of the adjusted deceitful satellite signal is greater than or equal to the preset return value threshold and the validity score of the adjusted deceitful satellite signal is greater than or equal to the preset validity score threshold, so as to obtain the target deceitful satellite signal.

[0051] By continuously adjusting the preset parameters of the real satellite signal, a target deception satellite signal corresponding to the real satellite signal is generated, which can interfere with the receiver and achieve the effect of time deception.

[0052] In this embodiment, determining the reward value corresponding to the initial spoofing satellite signal based on the first current time deviation, the first precision geometric factor, and the second current time deviation includes: obtaining the previous precision geometric factor corresponding to the historical visible satellite set at the previous moment, the previous time deviation between the previous clock time of the target visible satellite and the previous clock time of the receiver, and the previous receiver operating status parameters of the receiver; determining the deviation between the second current time deviation and the previous time deviation to obtain the clock error jump value; determining the rate of change of the precision geometric factor based on the previous precision geometric factor and the first precision geometric factor; and determining the reward value based on the first current time deviation, the clock error jump value, the rate of change of the precision geometric factor, and the previous receiver operating status parameters.

[0053] It can be understood that the historical visible satellite set is the set of visible satellites received by the receiver at the previous moment. The previous precision geometric factor, the previous time deviation, and the previous receiver operating status parameters are respectively the precision geometric factor corresponding to the historical visible satellite set acquired at the previous moment, the previous time deviation between the previous clock time of the target visible satellite and the previous clock time of the receiver, and the previous receiver operating status parameters of the receiver. The clock difference jump value is the change in the clock difference (second current time deviation) at the current moment compared to the clock difference (previous time deviation) at the previous moment. The rate of change of the precision geometric factor is the rate of change between the first precision geometric factor and the previous precision geometric factor. The previous receiver operating status parameters are the operating status parameters of the receiver at the previous moment; the normal operating status parameter is 0, and the abnormal operating status parameter is 1. Abnormal operating status includes receiver alarms (e.g., Receiver Autonomous Integrity Monitoring (RAIM) failure).

[0054] Specifically, the deception device acquires the previous precision geometric factor corresponding to the historical visible satellite set at the previous moment, the previous time deviation between the previous clock time of the target visible satellite and the previous clock time of the receiver, and the previous receiver operating status parameters of the receiver. It then determines the clock error jump value and the rate of change of the precision geometric factor, and based on the first current time deviation, the clock error jump value, the rate of change of the precision geometric factor, and the previous receiver operating status parameters, determines the reward value. This technical solution effectively uses the first current time deviation, the clock error jump value, the rate of change of the precision geometric factor, and the previous receiver operating status parameters to determine the effect of the preset parameter adjustment on the real satellite signal at the previous moment, thereby optimizing the adjustment strategy for the preset parameters of the real satellite signal at the current moment and improving the effectiveness and concealment of time deception.

[0055] In this embodiment, determining the reward value based on a first current time deviation, a clock error jump value, a rate of change of the precision geometric factor, and the operating state parameters of the previous receiver includes: determining a first reward value based on the first current time deviation and a preset current time deviation, wherein if the first current time deviation is greater than or equal to the preset current time deviation, the first reward value is determined to be a first preset reward value; if the first current time deviation is less than the preset current time deviation, the first reward value is determined to be zero; and determining a second reward value based on a clock error jump value and a preset clock error jump threshold, wherein if the clock error jump value is less than the preset clock error jump threshold, the second reward value is determined to be a second preset reward value; if the clock error jump value is greater than or equal to the preset clock error jump threshold, the second reward value is determined to be zero. Based on the rate of change of the precision geometric factor and the preset rate of change of the precision geometric factor, a third return value is determined. If the rate of change of the precision geometric factor is less than the preset rate of change of the precision geometric factor, the third return value is determined to be the third preset return value. If the rate of change of the precision geometric factor is greater than or equal to the preset rate of change of the precision geometric factor, the third return value is determined to be zero. Based on the operating state parameters of the previous receiver and the preset operating state parameters, a fourth return value is determined. If the operating state parameters of the previous receiver are equal to the preset operating state parameters, the fourth return value is determined to be zero. If the operating state parameters of the previous receiver are not equal to the preset operating state parameters, the fourth return value is determined to be the fourth preset return value. The sum of the first, second, third, and fourth return values ​​is determined to obtain the return value.

[0056] It can be understood that the first preset reward value is a pre-set first reward value, such as +100; the second preset reward value is a pre-set second reward value, such as +5; the third preset reward value is a pre-set third reward value, such as +10; and the fourth preset reward value is a pre-set fourth reward value, such as -50. The preset current time deviation is a pre-set current time deviation. The preset clock difference jump threshold is a pre-set clock difference jump threshold, such as 0.3. The preset precision geometry factor change rate is a pre-defined precision geometry factor change rate, for example, 10%.

[0057] Specifically, the deception device can compare the magnitude of a first current time deviation and a preset current time deviation. If the first current time deviation is greater than or equal to the preset current time deviation, the first report value is determined to be the first preset report value (e.g., +100), indicating that the time deception purpose can be achieved. If the first current time deviation is less than the preset current time deviation, the first report value is determined to be zero, indicating that the time deception purpose cannot be achieved. The deception device can also compare the magnitude of a clock difference jump value and a preset clock difference jump threshold. If the clock difference jump value is less than the preset clock difference jump threshold, the second report value is determined to be the second preset report value. A lower clock difference jump value can avoid triggering the receiver's detection of time anomalies. If the clock difference jump value is greater than or equal to the preset clock difference jump threshold, the second report value is determined to be zero. A higher clock difference jump value is more likely to trigger the receiver's detection of time anomalies. The deception device can also compare the rate of change of the precision geometric factor with a preset rate of change of the precision geometric factor. If the rate of change of the precision geometric factor is less than the preset rate of change of the precision geometric factor, the third report value is determined to be the third preset report value, indicating that the rate of change of the precision geometric factor is small, which is consistent with the receiver's normal expectation of the rate of change of the precision geometric factor, and will not trigger a receiver alarm, ensuring the concealment of the time deception. If the rate of change of the precision geometric factor is greater than or equal to the preset rate of change of the precision geometric factor, the third report value is determined to be zero, indicating that the rate of change of the precision geometric factor is large and is likely to trigger a receiver alarm. The deception device can also compare whether the previous receiver operating state parameters are consistent with the preset operating state parameters. If the previous receiver operating state parameters are equal to the preset operating state parameters, the fourth report value is determined to be zero; if the previous receiver operating state parameters are not equal to the preset operating state parameters, the fourth report value is determined to be the fourth preset report value. Further, the sum of the first, second, third, and fourth report values ​​is determined to obtain the report value.

[0058] By comparing the first current time deviation, clock error jump value, rate of change of precision geometric factor, and the previous receiver operating status parameters with the corresponding preset thresholds, the corresponding reward value is determined, which facilitates subsequent optimization of the preset parameters of the real satellite signal.

[0059] In one specific embodiment, such as Figure 2 As shown, the satellite navigation system 200 includes multiple satellites 201, a receiver 202, and a deception device 203. The receiver 202 can receive the real satellite signals from the multiple satellites 201 through the receiving antenna 204. The deception device 203 can generate a deception satellite signal corresponding to the real satellite signal from the multiple satellites 201 received through the receiving antenna 204, and transmit it to the receiver 202 through the transmitting antenna 205. While receiving the real satellite signals from the multiple satellites 201 through the receiving antenna 204, the receiver can also receive the deception satellite signal transmitted by the deception device 203 through the transmitting antenna 205. Based on this, the deception satellite signal can interfere with the receiver 202's accurate acquisition of time, causing a certain deviation between the receiver's clock time and the standard clock time, thus achieving the effect of time deception.

[0060] The technical solution of this application is as follows: the deception device 203 can pre-acquire the first precision geometric factor corresponding to the first set of visible satellites and determine the target visible satellite in the first set of visible satellites. Based on the real satellite signal and the first precision geometric factor, it continuously generates the target deception satellite signal corresponding to the real satellite signal, and then sends the target deception satellite signal to the receiver 202 through the transmitting antenna 205 to interfere with the receiver 202, gradually changing the time deviation between the receiver's clock time and the standard clock time, thereby realizing time deception.

[0061] The process of determining the first set of visible satellites involves: acquiring historical satellite signal reception data (historical satellite selection data) and the real-time elevation angle of each satellite relative to the receiver; performing cluster analysis on the historical satellite signal reception data based on a clustering algorithm to determine the receiver's preferred satellite type. The spoofing device can also identify the receiver's preferred satellite type by plotting a scatter plot of GDOP values ​​versus average satellite elevation angles. Thus, based on the real-time elevation angle values, multiple visible satellites can be identified from among multiple satellites to form the first set of visible satellites. Visible satellites are those whose real-time elevation angle values ​​are greater than the elevation angle threshold corresponding to the preferred satellite type.

[0062] The method for determining the target visible satellites is as follows: Assuming that the first set of visible satellites includes five visible satellites A, B, C, D, and E, then five second sets of visible satellites (ABCD, ABCE, ABDE, ACDE, and BCDE) can be obtained. The second precision geometric factors corresponding to the five second sets of visible satellites are calculated (2.1, 2.5, 2.6, 2.7, and 2.0, respectively). Based on the first precision geometric factor (e.g., 2.4) and each second precision geometric factor, the influence score corresponding to each candidate visible satellite is determined, where the influence score is the absolute value of the difference between the first precision geometric factor and the second precision geometric factor. Among the multiple candidate visible satellites, the candidate visible satellites with influence scores (0.3, 0.1, 0.2, 0.3, 0.4) greater than the preset influence score (e.g., 0.2) are determined to obtain the target visible satellites (E, B, and A).

[0063] The attack sequence is optimized based on the reinforcement learning algorithm (Q-Learning) to avoid triggering the receiver's anomaly detection, such as GDOP mutation alarm. The deception device selects a target visible satellite as the target of attack and acquires in real time the first current time deviation between the current clock time of the deception device and the current clock time of the receiver, the current relative state parameters of the target visible satellite relative to the receiver, and the current elevation angle of the target visible satellite. The current relative state parameters include the current pseudorange between the target visible satellite and the receiver, the current elevation angle of the target visible satellite relative to the receiver, and the second current time deviation between the current clock time of the target visible satellite and the current clock time of the receiver. The deception device uses the first current time deviation, the current elevation angle, the current pseudorange, the current elevation angle, and the second current time deviation as the current state. The deception device can preset the desired state, i.e., preset parameters corresponding to the first current time deviation, the current elevation angle, the current pseudorange, the current elevation angle, and the second current time deviation. It can also preset the first current time deviation, the second current time deviation, the first precision geometric factor, the current relative state parameters, and the preset scoring weight coefficients corresponding to the current elevation angle to determine the validity score value corresponding to the current state and to determine the preset validity score threshold corresponding to the desired state.

[0064] based on - Greedy strategy selects actions based on probability. Explore random actions, otherwise select the action with the highest Q value, and dynamically adjust. :initial =0.7 (high exploration), decaying to 0.1 (high utilization) with each training round. When the effectiveness score is less than the preset effectiveness score threshold or the reward value is less than the preset reward value threshold, the preset parameters in the real satellite signal (e.g., clock bias, replacement of PRN08 satellite signal or software radio transmission modification code phase / carrier frequency) are initially adjusted to obtain the initial deceiving satellite signal. In order to evaluate the stealth, effect and whether the alarm is triggered by the parameter adjustment, the reward value (reward value) corresponding to the initial deceiving satellite signal can be determined according to the first current time deviation, the first precision geometric factor and the second current time deviation. Then, the preset parameters in the real satellite signal are further adjusted again according to the reward value until the reward value corresponding to the adjusted deceiving satellite signal is greater than or equal to the preset reward value threshold and the effectiveness score value corresponding to the adjusted deceiving satellite signal is greater than or equal to the preset effectiveness score threshold, so as to obtain the target deceiving satellite signal.

[0065] The specific method for determining the reward value corresponding to the initial spoofing satellite signal based on the first current time deviation, the first precision geometric factor, and the second current time deviation includes: obtaining the previous precision geometric factor corresponding to the historical visible satellite set at the previous moment, the previous time deviation between the previous clock time of the target visible satellite and the previous clock time of the receiver, and the previous receiver operating status parameters; determining the deviation between the second current time deviation and the previous time deviation to obtain the clock error jump value; determining the rate of change of the precision geometric factor based on the previous precision geometric factor and the first precision geometric factor; and determining the reward value based on the first current time deviation, the clock error jump value, the rate of change of the precision geometric factor, and the previous receiver operating status parameters. If the first current time deviation is greater than or equal to a preset current time deviation (1 second), the first reward value is determined to be the first preset reward value (+100); otherwise, the first reward value is 0. If the clock error jump value is less than a preset clock error jump threshold (0.3... If the first, second, third, and fourth report values ​​are not equal to the preset report value (+5), the second report value is determined to be 0. If the rate of change of the precision geometric factor is less than the preset rate of change of the precision geometric factor (10%), the third report value is determined to be the third preset report value (+10), otherwise the third report value is 0. If the previous receiver operating status parameter is not equal to the preset operating status parameter (receiver alarm, such as RAIM failure), the fourth report value is determined to be the fourth preset report value (-50), otherwise the fourth report value is 0. The sum of the first, second, third, and fourth report values ​​is determined to obtain the report value.

[0066] The deception device, combined with a synchronization compensation unit, employs phase-locked loop (PLL) and delay-locked loop (DLL) technologies to track real signal parameters in real time, adjust the phase and power gradient of the target deception satellite signal, and transmit the signal to the receiver.

[0067] The technical effects achievable by the above-mentioned solution include: First, by gradually replacing key satellite signals, an optimal GDOP illusion is artificially constructed, enabling the receiver to actively select the attacked satellite (target visible satellite), thus circumventing traditional multi-system cross-verification. Second, only specific frequency bands (such as GPS L1) or a small number of target visible satellites are attacked, while other channels remain normal, avoiding power anomalies and signal conflicts caused by attacks on all channels. Third, the target deception satellite signal is strictly synchronized with the real satellite signal in code phase and carrier frequency, bypassing Signal Quality Monitoring (SQM) and Time Difference of Arrival (TDOA) detection. Fourth, by combining satellite selection strategies, key satellites (target visible satellites) are identified, and high-precision synchronous deception signals (including forged navigation messages, code phase, and Doppler shift) are generated for these key satellites, enabling the broadcast of deception signals on some channels, reducing hardware costs while significantly reducing computational resources.

[0068] This application also provides a deception device, including: a memory configured to store instructions; and a processor configured to retrieve the instructions from the memory and, when executing the instructions, to implement the satellite signal deception and interference method for a satellite navigation system described above.

[0069] This application also provides a satellite navigation system, including: a plurality of satellites; a receiver; and the deception device described above.

[0070] This application also provides a machine-readable storage medium storing instructions that cause a machine to execute the above-described satellite signal deception and jamming method for a satellite navigation system.

[0071] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0072] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0073] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0074] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0075] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0076] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0077] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0078] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0079] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for spoofing and jamming satellite signals in a satellite navigation system, characterized in that, The satellite navigation system includes multiple satellites, a receiver, and a deception device. The satellite signal deception jamming method is executed on the deception device, and the satellite signal deception jamming method includes: Obtain the first precision geometric factor corresponding to the first set of visible satellites, wherein the first set of visible satellites is a set of multiple visible satellites, and the visible satellites are selected from the multiple satellites; Identify the visible satellites in the first set of visible satellites that affect the first precision geometric factor, so as to obtain the target visible satellites in the first set of visible satellites; Obtain the actual satellite signals of the target's visible satellites; Based on the real satellite signal and the first precision geometric factor, a target deception satellite signal corresponding to the real satellite signal is generated; The target deception satellite signal is sent to the receiver; The step of generating a target deception satellite signal corresponding to the real satellite signal based on the real satellite signal and the first precision geometric factor includes: initially adjusting preset time-related parameters in the real satellite signal to obtain an initial deception satellite signal; acquiring a first current time deviation between the current clock time of the deception device and the current clock time of the receiver, the current relative state parameters of the target visible satellite relative to the receiver, and the current elevation angle of the target visible satellite, wherein the current relative state parameters include the current pseudorange between the target visible satellite and the receiver, the current elevation angle of the target visible satellite relative to the receiver, and a second current time deviation between the current clock time of the target visible satellite and the current clock time of the receiver; and adjusting the target deception satellite signal based on the first current time deviation. The initial deception satellite signal's reward value is determined by considering the deviation, the first precision geometric factor, and the second current time deviation. The sum of the products of the first current time deviation, the first precision geometric factor, the current relative state parameter, and the current elevation angle with their respective preset scoring weight coefficients is then determined to obtain the effectiveness score value corresponding to the initial deception satellite signal. If the effectiveness score value is less than a preset effectiveness score threshold or the reward value is less than a preset reward value threshold, the preset parameters in the real satellite signal are readjusted until the adjusted reward value of the deception satellite signal is greater than or equal to the preset reward value threshold and the adjusted effectiveness score value is greater than or equal to the preset effectiveness score threshold, thus obtaining the target deception satellite signal.

2. The method according to claim 1, characterized in that, The determination of the first visible satellite set includes: The receiver acquires historical satellite signal reception data and the real-time elevation angle of each satellite relative to the receiver. Based on the historical satellite signal reception data, the preferred satellite type of the receiver is determined; Based on the real-time elevation angle value, multiple visible satellites are determined from among the multiple satellites to obtain a first set of visible satellites, wherein the visible satellites are satellites whose real-time elevation angle value is greater than the elevation angle threshold value corresponding to the preferred satellite type.

3. The method according to claim 1, characterized in that, The step of determining the visible satellites in the first set of visible satellites that affect the first precision geometric factor, in order to obtain the target visible satellites in the first set of visible satellites, includes: Multiple second visible satellite sets are determined based on the first visible satellite set, wherein the second visible satellite set is a set of visible satellites remaining after removing candidate visible satellites from the first visible satellite set, and the candidate visible satellites are each visible satellite in the first visible satellite set; Determine the second precision geometric factor corresponding to each of the second visible satellite sets; Based on the first precision geometric factor and each of the second precision geometric factors, the influence score corresponding to each of the candidate visible satellites is determined, wherein the influence score is the absolute value of the difference between the first precision geometric factor and the second precision geometric factor; Based on the influence score, the target visible satellite is determined from among the multiple candidate visible satellites.

4. The method according to claim 3, characterized in that, The step of determining the target visible satellite among the multiple candidate visible satellites based on the influence score includes: The target visible satellite is obtained by identifying candidate visible satellites whose influence scores are greater than a preset influence score among a plurality of candidate visible satellites.

5. The method according to claim 1, characterized in that, The step of determining the reward value corresponding to the initial spoofing satellite signal based on the first current time deviation, the first precision geometric factor, and the second current time deviation includes: The previous precision geometric factor corresponding to the historical visible satellite set at the previous moment, the previous time deviation between the previous clock time of the target visible satellite and the previous clock time of the receiver, and the previous receiver operating status parameters of the receiver are obtained. Determine the deviation between the second current time deviation and the previous time deviation to obtain the clock jump value; The rate of change of the precision geometric factor is determined based on the previous precision geometric factor and the first precision geometric factor; The report value is determined based on the first current time deviation, the clock error jump value, the rate of change of the precision geometric factor, and the operating status parameters of the previous receiver.

6. The method according to claim 5, characterized in that, The step of determining the report value based on the first current time deviation, the clock error jump value, the rate of change of the precision geometric factor, and the operating status parameters of the previous receiver includes: A first reward value is determined based on the first current time deviation and the preset current time deviation, wherein if the first current time deviation is greater than or equal to the preset current time deviation, the first reward value is determined to be a first preset reward value, and if the first current time deviation is less than the preset current time deviation, the first reward value is determined to be zero. A second reward value is determined based on the clock difference jump value and a preset clock difference jump threshold. If the clock difference jump value is less than the preset clock difference jump threshold, the second reward value is determined to be a second preset reward value. If the clock difference jump value is greater than or equal to the preset clock difference jump threshold, the second reward value is determined to be zero. A third reward value is determined based on the rate of change of the precision geometric factor and the preset rate of change of the precision geometric factor. Wherein, if the rate of change of the precision geometric factor is less than the preset rate of change of the precision geometric factor, the third reward value is determined to be a third preset reward value. If the rate of change of the precision geometric factor is greater than or equal to the preset rate of change of the precision geometric factor, the third reward value is determined to be zero. Based on the previous receiver operating status parameters and the preset operating status parameters, a fourth report value is determined. Wherein, if the previous receiver operating status parameters are equal to the preset operating status parameters, the fourth report value is determined to be zero. If the previous receiver operating status parameters are not equal to the preset operating status parameters, the fourth report value is determined to be a fourth preset report value. The sum of the first return value, the second return value, the third return value, and the fourth return value is determined to obtain the return value.

7. A deception device, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the satellite signal deception and jamming method for a satellite navigation system according to any one of claims 1 to 6.

8. A satellite navigation system, characterized in that, include: Multiple satellites; Receiver; The deception device according to claim 7.

9. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform a satellite signal deception and jamming method for a satellite navigation system according to any one of claims 1 to 6.

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