An unmanned system navigation safety indoor test device and test method

Abstract

The application relates to an unmanned system navigation safety indoor test device and a test method, and belongs to the technical field of unmanned system navigation safety testing. The device comprises an unmanned system, an indoor space reference system, a complex electromagnetic environment simulation system and a computer system; the indoor space reference system is used for providing indoor space reference information, driving the complex electromagnetic environment simulation system to generate real star simulation signals consistent with the unmanned system position information, and serving as a position information reference benchmark to evaluate the unmanned system navigation positioning performance; the complex electromagnetic environment simulation system is used for generating and emitting real star simulation signals, deception jamming signals and suppression jamming signals of each frequency band; and the computer system is used for testing environment configuration, test process control management and state monitoring, test data storage processing and test result evaluation. The device can efficiently carry out unmanned system navigation safety test experiments in an indoor environment, and the test experiments are controllable in conditions and cost, flexible in scene parameter adjustment, and accurate and reliable in test data.

Description

Technical Field

[0001] This application relates to the field of unmanned system navigation safety testing technology, and in particular to an indoor testing device and method for unmanned system navigation safety. Background Technology

[0002] The rapid development and widespread application of unmanned systems heavily rely on satellite navigation systems. With its advantages of global coverage, high precision, low cost, and easy access, satellite navigation has become a crucial spatiotemporal infrastructure for unmanned systems to achieve precise positioning, autonomous navigation, and intelligent decision-making; almost every type of unmanned system is equipped with a corresponding navigation terminal. However, this deep dependence also makes satellite navigation signals a potential vulnerability for unmanned systems, easily susceptible to interference and spoofing. Furthermore, due to the relatively weak signal strength, they are frequently suppressed by intentional or unintentional interference, leading to receiver lock-on failure, which in turn can result in positioning loss, mission failure, or even safety incidents.

[0003] To address the security challenges posed by the vulnerabilities of satellite navigation, unmanned systems such as drones urgently need to undergo systematic navigation safety testing to continuously improve their anti-interference and anti-spoofing capabilities. However, current testing largely relies on large-scale outdoor simulation equipment, which is bulky, costly, and difficult to reproduce complex signal scenarios in controlled environments. In particular, there is a lack of highly flexible and low-cost testing methods suitable for indoor environments, which restricts the efficiency and coverage of navigation safety testing and evaluation for unmanned systems. Summary of the Invention

[0004] Therefore, it is necessary to provide an indoor testing device and method for navigation safety of unmanned systems to address the aforementioned technical problems.

[0005] An indoor testing device for navigation safety of an unmanned system, the device comprising: an unmanned system, an indoor space reference system, a complex electromagnetic environment simulation system, and a computer system;

[0006] The indoor space reference system is used to perform high-precision indoor positioning calculations for unmanned systems using ultra-wideband technology, and the calculated position coordinates are used as indoor space reference information. On the one hand, the indoor space reference information is used to drive the complex electromagnetic environment simulation system to generate real satellite simulation signals that are consistent with the position information of the unmanned system, so that the signal characteristic parameters are updated synchronously as the position of the unmanned system changes. On the other hand, it is used as a position information reference for the unmanned system to evaluate the navigation and positioning performance of the unmanned system under interference conditions.

[0007] The complex electromagnetic environment simulation system is used to generate simulated satellite signals, deception jamming signals, and suppression jamming signals in various frequency bands based on the received outdoor real satellite signals and control commands, and send them to the unmanned system independently or in combination to support the satellite navigation safety test of the unmanned system in a complex electromagnetic environment.

[0008] The computer system is used to configure the test environment by loading application software for the indoor space reference system and the complex electromagnetic environment simulation system; to control and manage the test process and monitor its status by sending control commands to the indoor space reference system and the complex electromagnetic environment simulation system; and to evaluate the test results by collecting, storing and processing the test data fed back from the unmanned system, the indoor space reference system and the complex electromagnetic environment simulation system.

[0009] Furthermore, the indoor spatial reference system includes multiple positioning base stations, positioning tags mounted on the unmanned system, and positioning software installed on the computer system. The positioning tags are deployed at the center of the geometric distribution of the multiple positioning base stations. The hardware structure of the positioning base stations and positioning tags is basically the same, both based on the DW1000 chip design, and different functions are switched through the configuration of the positioning software. The DW1000 chip adopts ultra-wideband technology and uses a radio signal time difference positioning algorithm to perform high-precision indoor positioning calculations for the unmanned system.

[0010] Furthermore, the process of high-precision indoor positioning calculation for unmanned systems using an indoor space reference system includes:

[0011] When an unmanned system equipped with a positioning tag enters the signal coverage area of ​​any positioning base station, the positioning tag automatically contacts the positioning base station and sends a positioning data packet.

[0012] After receiving the positioning data packet, the positioning base station calculates the distance to the moving positioning tag according to the built-in positioning rules, and sends the distance calculation data to the computer system with positioning software installed through the data transmission channel.

[0013] The positioning software integrates the distance calculation data sent by each positioning base station and calculates and outputs the position coordinates of the positioning tag. The position coordinates are reported to the complex electromagnetic environment simulation system on the one hand, and are used as indoor space reference information to drive the complex electromagnetic environment simulation system to generate real satellite simulation signals and deception interference signals. On the other hand, they are used as a position information reference benchmark for unmanned systems to support the evaluation of the navigation and positioning accuracy and anti-interference and anti-deception performance of unmanned systems.

[0014] Furthermore, the complex electromagnetic environment simulation system includes an integrated design of a real-satellite simulation signal generation module and a deception jamming signal generation module, as well as an independently designed suppression jamming signal generation module.

[0015] The real satellite analog signal generation module and the deception jamming signal generation module are integrated into one unit. First, the outdoor real satellite signal is received through the same set of receiving antennas. After being divided by the power divider module, the signal is input into the real satellite analog signal generation module and the deception jamming signal generation module respectively to obtain time information and real-time ephemeris information and to synchronize the time. Then, the computer system controls and monitors the status. According to the corresponding application software installed in the computer system, different functions are configured to generate baseband signals of real satellite analog signals and deception jamming signals respectively. The real satellite analog signals and deception jamming signals are then wirelessly broadcast through the corresponding configured radio frequency modules and transmitting antennas.

[0016] The jamming signal generation module consists of a baseband signal generation unit, a multi-channel up-conversion unit, a signal synthesis and power control unit, and a transmitting antenna. The jamming signal generation process includes: according to test requirements, a computer system equipped with jamming signal generation application software sets the jamming type and jamming signal parameters, and generates corresponding control commands; the baseband signal generation unit generates the corresponding baseband jamming signal based on the received control commands; the multi-channel up-conversion unit performs signal up-conversion processing; the signal synthesis and power control unit performs signal synthesis and power control, and then the jamming signal is wirelessly broadcast via the transmitting antenna.

[0017] Furthermore, the internal hardware composition of the real satellite analog signal generation module is completely identical to that of the deception jamming signal generation module, including a receiver, a time synchronization unit, a mathematical simulation unit, and a signal generation unit;

[0018] The receiver is used to perform information processing on the received outdoor satellite signals, send the processed time information to the time synchronization unit, and send the processed real-time ephemeris information to the mathematical simulation unit. The time synchronization unit is used to send time information to the mathematical simulation unit and the signal generation unit for time synchronization. The mathematical simulation unit is used to simulate and calculate the signal parameters and information data corresponding to the satellite analog signal or spoofing jamming signal according to the real-time ephemeris information and time information, and according to the control instructions issued by the computer system. The signal generation unit is used to generate the baseband signal of the satellite analog signal or spoofing jamming signal in real time based on the simulation data calculated by the mathematical simulation unit, and then wirelessly broadcast the satellite analog signal or spoofing jamming signal through the corresponding externally configured radio frequency module and transmitting antenna.

[0019] Furthermore, the suppression interference signal generation module supports generating the following types of suppression interference: single-frequency interference, multi-frequency interference, broadband interference, narrowband interference, pulse interference, full-time interference, frequency sweep interference, and fixed-frequency interference.

[0020] Based on the above-mentioned unmanned system navigation safety indoor testing device, the method for unmanned system navigation safety indoor testing includes:

[0021] The unmanned system, indoor space reference system, complex electromagnetic environment simulation system and computer system are arranged and installed indoors;

[0022] Based on the application software of the indoor space reference system and the complex electromagnetic environment simulation system loaded in the computer system, the test environment configuration is completed, and after the configuration is completed, control commands are sent to the indoor space reference system and the complex electromagnetic environment simulation system to start the test process control management and status monitoring.

[0023] The high-precision indoor positioning calculation of the unmanned system is performed based on the ultra-wideband technology adopted by the indoor space reference system, and the calculated position coordinates are used as indoor space reference information. The indoor space reference information is used on the one hand to drive the complex electromagnetic environment simulation system to generate a real satellite simulation signal that is consistent with the position information of the unmanned system, so that the signal characteristic parameters are updated synchronously with the position change of the unmanned system. On the other hand, it is used as a position information reference for the unmanned system to evaluate the navigation and positioning performance of the unmanned system under interference conditions.

[0024] Based on the complex electromagnetic environment simulation system receiving outdoor real satellite signals and control commands, it generates real satellite simulation signals, deception jamming signals, and suppression jamming signals in various frequency bands, and sends them to the unmanned system independently or in combination to support the satellite navigation safety test of the unmanned system in a complex electromagnetic environment.

[0025] The test data collected from unmanned systems, indoor space reference systems, and complex electromagnetic environment simulation systems are acquired by computer systems, stored, and processed to complete the evaluation of test results.

[0026] The aforementioned indoor testing device and method for navigation safety of unmanned systems constructs a testing environment consisting of an unmanned system, an indoor space reference system, a complex electromagnetic environment simulation system, and a computer system. Within this testing environment, the indoor space reference system provides indoor space reference information, which serves as input to drive the complex electromagnetic environment simulation system to generate a real-satellite simulation signal consistent with the unmanned system's position information. The signal characteristic parameters change with the unmanned system's position, ensuring that the simulated signal is completely consistent with the propagation laws and characteristic change trends of satellite navigation signals in real application scenarios, providing a signal input environment that closely matches actual operating conditions for the unmanned system. Furthermore, as… The location information reference benchmark provides accurate comparison results for unmanned system navigation and positioning under various interference scenarios, which is beneficial for quantitatively evaluating the accuracy, stability, and anti-interference capability of unmanned system navigation and positioning. A complex electromagnetic environment simulation system generates various satellite navigation signals, deception interference signals, suppression interference signals, and their combinations that the unmanned system may receive in actual applications, ensuring the authenticity and comprehensiveness of the unmanned system's satellite navigation safety test. A computer system allows for the configuration of the test environment, control and management of the test process, storage and processing of test data, and evaluation of test results, ensuring the standardization of the test process and the credibility of the results. Finally, relying on the collaborative support of the unmanned system, indoor space reference system, complex electromagnetic environment simulation system, and computer system, this application enables efficient indoor unmanned system navigation safety testing experiments with controllable environmental conditions and costs, flexible and adjustable scene parameters, and accurate and reliable test data, providing strong support for the verification and optimization of unmanned system navigation performance. Attached Figure Description

[0027] Figure 1 This is a schematic diagram summarizing the architecture of an indoor testing device for navigation safety of an unmanned system in one embodiment;

[0028] Figure 2 This is a schematic diagram of the structure of a complex electromagnetic environment simulation system in one embodiment; wherein, Figure 2 (a) is a schematic diagram of the integrated design of the real-satellite analog signal generation module and the deception jamming signal generation module. Figure 2 (b) is a schematic diagram of the internal structure of the real satellite analog signal generation module and the deception jamming signal generation module. Figure 2 (c) is a schematic diagram of the module for generating interference suppression signals;

[0029] Figure 3 This is a schematic diagram of the experimental setup for an indoor test device for navigation safety of an unmanned system in one embodiment;

[0030] Figure 4 This is a schematic diagram of the test results for generating a real-satellite simulated signal in one embodiment; wherein, Figure 4(a) is a schematic diagram of the coordinate trajectory of the positioning tag. Figure 4 (b) is a schematic diagram of the positioning trajectory of the navigation receiver;

[0031] Figure 5 This is a schematic diagram illustrating the test results of generating deception interference signals in one embodiment; wherein, Figure 5 (a) Schematic diagram of the test results when the radius of the circle for the deception interference signal trajectory is set to 30m. Figure 5 (b) Schematic diagram of test results when the circumference radius of the deception interference signal trajectory is set to 50m. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0033] In one embodiment, such as Figure 1 As shown, an indoor testing device for navigation safety of unmanned systems is provided, including an unmanned system, an indoor space reference system, a complex electromagnetic environment simulation system, and a computer system.

[0034] The unmanned system is the object of test, commonly including drones, unmanned vehicles, and robots. The satellite navigation, positioning, and timing terminal mounted on the unmanned system can also be used as the object of test. The indoor space reference system is used to perform high-precision indoor positioning calculations for the unmanned system using Ultra Wide Band (UWB) technology. The calculated position coordinates are used as indoor space reference information. This indoor space reference information serves two purposes: firstly, it drives the complex electromagnetic environment simulation system to generate real-satellite simulation signals consistent with the unmanned system's position information, ensuring that signal characteristic parameters are updated synchronously with changes in the unmanned system's position; secondly, it serves as a position information reference for the unmanned system to evaluate its navigation and positioning performance under interference conditions. The complex electromagnetic environment simulation system generates real-satellite simulation signals, deception jamming signals, and suppression jamming signals in various frequency bands based on received outdoor real-satellite signals and control commands. These signals are then sent independently or in combination to the unmanned system to support satellite navigation safety testing of the unmanned system in complex electromagnetic environments. The computer system is used to configure the test environment by loading application software for the indoor space reference system and the complex electromagnetic environment simulation system; to control and manage the test process and monitor its status by sending control commands to the indoor space reference system and the complex electromagnetic environment simulation system; and to evaluate the test results by collecting, storing and processing the test data fed back from the unmanned system, the indoor space reference system and the complex electromagnetic environment simulation system.

[0035] The aforementioned indoor testing device for navigation safety of unmanned systems constructs a testing environment consisting of an unmanned system, an indoor space reference system, a complex electromagnetic environment simulation system, and a computer system. Within this testing environment, the indoor space reference system provides indoor space reference information. This information serves two purposes: firstly, it drives the complex electromagnetic environment simulation system to generate a real-satellite simulation signal consistent with the unmanned system's position information. The signal characteristic parameters change with the unmanned system's position, ensuring that the simulated signal is completely consistent with the propagation laws and characteristic change trends of satellite navigation signals in real application scenarios, providing the unmanned system with a signal input environment that closely matches actual operating conditions; secondly, it serves as a position... The information reference benchmark provides accurate comparison results for unmanned system navigation and positioning under various interference scenarios, which is beneficial for quantitatively evaluating the accuracy, stability, and anti-interference capability of unmanned system navigation and positioning. The complex electromagnetic environment simulation system simulates various satellite navigation signals, deception interference signals, suppression interference signals, and their combinations that unmanned systems may receive in actual applications, ensuring the authenticity and comprehensiveness of unmanned system satellite navigation safety testing. The computer system allows for the configuration of the test environment, control and management of the test process, storage and processing of test data, and evaluation of test results, ensuring the standardization of the test process and the credibility of the results. Finally, relying on the collaborative support of the unmanned system, indoor space reference system, complex electromagnetic environment simulation system, and computer system, this application enables efficient indoor unmanned system navigation safety testing experiments with controllable environmental conditions and costs, flexible and adjustable scene parameters, and accurate and reliable test data, providing strong support for the verification and optimization of unmanned system navigation performance.

[0036] Furthermore, the indoor spatial reference system aims to construct a regional positioning system under indoor conditions, providing high-precision coordinate information for any location within the indoor space. When the unmanned system under test moves indoors, it can obtain its own position coordinates in real time through the indoor spatial reference system. The indoor spatial reference system includes multiple positioning base stations, positioning tags mounted on the unmanned system, and positioning software installed on a computer system. The positioning tags are deployed at the center of the geometric distribution of the multiple positioning base stations. The hardware structure of the positioning base stations and positioning tags is basically the same, both based on the DW1000 chip, and different functions are switched through the configuration of the positioning software. The DW1000 chip uses ultra-wideband technology and a radio signal time-of-arrival (TOA) positioning algorithm to perform high-precision indoor positioning calculations for the unmanned system, achieving a positioning accuracy of up to 10 centimeters.

[0037] It is important to note that the deployment of positioning base stations must comprehensively consider the actual indoor physical space and testing space requirements. Typically, one positioning base station is used as the coordinate origin, and the positions of other positioning base stations are determined one by one through precise measurements. To achieve high indoor positioning accuracy, the geometric distribution of positioning base stations should cover the positioning tags in the central area as much as possible. If coverage is insufficient, it can be improved by increasing the number of positioning base stations. Positioning base stations have a self-calibration function; after deployment and installation, they can automatically perform calibration measurements of the distances between base stations. The positioning software installed on the computer system can display data from the indoor spatial reference system in sections, including base station numbers, base station coordinates, tag numbers, tag coordinates, and distance information between the tags and each base station; a system settings window; a configured floor plan; and the positions of the positioning base stations and positioning tags on the floor plan.

[0038] Furthermore, the process of high-precision indoor positioning calculation for unmanned systems using the indoor space reference system includes: when an unmanned system equipped with a positioning tag enters the signal coverage area of ​​any positioning base station, the positioning tag automatically contacts the positioning base station and sends a positioning data packet; after receiving the positioning data packet, the positioning base station calculates the distance to the moving positioning tag according to its built-in positioning rules, and sends the distance calculation data to a computer system with positioning software installed through a data transmission channel; the positioning software integrates the distance calculation data sent by each positioning base station and calculates and outputs the position coordinates of the positioning tag; the position coordinates are reported to the complex electromagnetic environment simulation system as indoor space reference information to drive the complex electromagnetic environment simulation system to generate real satellite simulation signals and deception interference signals; on the other hand, they are used as a position information reference benchmark for the unmanned system to support the evaluation of the navigation and positioning accuracy and anti-interference and anti-deception performance of the unmanned system.

[0039] Furthermore, such as Figure 2 As shown, the complex electromagnetic environment simulation system includes an integrated design of a real-satellite simulation signal generation module and a deception jamming signal generation module, as well as an independently designed suppression jamming signal generation module.

[0040] like Figure 2As shown in (a), the real satellite analog signal generation module and the spoofing jamming signal generation module are integrated into one unit. First, outdoor real satellite signals are received through the same receiving antenna. After being divided by the power divider module, the signals are input to the real satellite analog signal generation module and the spoofing jamming signal generation module respectively to obtain time information and real-time ephemeris information and perform time synchronization. Then, the computer system controls and monitors the status, and according to the corresponding application software installed in the computer system, different functions are configured to generate baseband signals for both the real satellite analog signal and the spoofing jamming signal. These signals are then wirelessly broadcast through the corresponding configured radio frequency modules and transmitting antennas. The navigation signal frequency band can be configured independently, such as common civilian frequencies like BDS-B1 and GPS-L1.

[0041] like Figure 2 As shown in (b), the internal hardware composition of the real satellite simulation signal generation module and the deception jamming signal generation module is completely identical, including a receiver, a time synchronization unit, a mathematical simulation unit, and a signal generation unit. The receiver is used to perform information decoding on the received outdoor real satellite signal, send the decoded time information to the time synchronization unit, and send the decoded real-time ephemeris information to the mathematical simulation unit; the time synchronization unit is used to send time information to the mathematical simulation unit and the signal generation unit for time synchronization; the mathematical simulation unit is used to simulate and calculate the signal parameters and information data corresponding to the real satellite simulation signal or the deception jamming signal according to the real-time ephemeris information and time information, and according to the control instructions issued by the computer system; the signal generation unit is used to generate the baseband signal of the real satellite simulation signal or the deception jamming signal in real time based on the simulation data calculated by the mathematical simulation unit, and then wirelessly broadcast the real satellite simulation signal or the deception jamming signal through the corresponding externally configured radio frequency module and transmitting antenna.

[0042] like Figure 2 As shown in (c), the jamming signal generation module consists of a baseband signal generation unit, a multi-channel upconversion unit, a signal synthesis and power control unit, and a transmitting antenna. The jamming signal generation process includes: according to the test requirements, a computer system with jamming signal generation application software installed sets the jamming type and jamming signal parameters, and generates corresponding control commands; the baseband signal generation unit is used to generate the corresponding baseband jamming signal according to the received control commands; the multi-channel upconversion unit is used to perform signal upconversion processing; the signal synthesis and power control unit is used to perform signal synthesis and power control, and then the jamming signal is wirelessly broadcast through the transmitting antenna.

[0043] Furthermore, through software configuration, the suppression interference signal generation supports multiple interference styles and has adjustable power. The suppression interference signal generation module supports the generation of suppression interference types including: single-frequency interference, multi-frequency interference, broadband interference, narrowband interference, pulse interference, full-time interference, frequency sweep interference, and fixed-frequency interference.

[0044] To verify the feasibility of the indoor testing device for unmanned system navigation safety provided in this application, further experiments were conducted on the generation of simulated satellite signals and the generation of deception jamming signals. The indoor testing device for unmanned system navigation safety constructed in the experiments is as follows: Figure 3 As shown in the diagram. The indoor spatial reference system includes four positioning base stations, one positioning tag, and one set of positioning software. Each positioning base station or tag is equipped with a rechargeable battery and an antenna. In a relatively open and unobstructed indoor environment, a 10m × 10m test area was marked using a ruler. Four fixed points were selected to install the positioning base stations, with coordinates (0m, 0m), (10m, 0m), (10m, 10m), and (0m, 10m). The positioning tag was mounted on the autonomous vehicle. To facilitate the collection and analysis of test data, a navigation receiver was also mounted on the autonomous vehicle to simulate its navigation terminal.

[0045] The real-satellite simulation signal generation module and the deception jamming signal generation module are integrated into one unit, containing two signal output channels: Channel 1 simultaneously supports the generation of real-satellite simulation signals for both BDS-B1 and GPS-L1 frequencies, with each frequency signal containing at least 12 satellites. This channel can be used as a satellite navigation signal simulator to test the positioning, timing, and performance of unmanned system navigation terminals. Channel 2 simultaneously supports the generation of deception jamming signals for both BDS-B1 and GPS-L1 frequencies, with each frequency signal containing at least 12 satellites. Parameters such as signal power, time, position, velocity, and trajectory can be flexibly configured, allowing for vulnerability detection and anti-deception performance testing of unmanned system navigation terminal positioning and timing under deception conditions. The jamming signal generation module simultaneously supports signal generation in the BDS-B1 and GPS-L1 bands using single-frequency / multi-frequency, wideband / narrowband, pulse / full-time, swept-frequency / fixed-frequency, and various combination modes. This can be used for vulnerability detection and anti-jamming performance testing of unmanned system navigation terminal positioning and timing under jamming conditions.

[0046] Taking the test of the anti-interference and anti-spoofing capabilities of unmanned system navigation and positioning as an example, the typical working mode of the test environment is as follows: the unmanned system under test is equipped with both a positioning tag and a navigation terminal, and is either stationary or moving indoors; the indoor spatial reference system obtains the position information of the unmanned system under test by real-time calculation of the positioning tag coordinate data, and uploads the position coordinate data to the computer system; using the positioning tag coordinate data as input, after coordinate transformation, the real satellite simulation signal generation module generates a real satellite simulation signal consistent with the positioning tag coordinate position in real time. After receiving the real satellite simulation signal, the navigation terminal on the unmanned system can be positioned, which is equivalent to receiving an outdoor real satellite signal; according to the test requirements, the deception interference signal generation module and the suppression interference signal generation module are used to generate interference signals independently or in combination. By analyzing the response and data of the unmanned system and its navigation terminal under interference conditions, the navigation safety performance of the unmanned system is comprehensively evaluated.

[0047] First, a real-satellite simulated signal generation test was conducted: the unmanned vehicle was placed at three locations, a, b, and c, and kept stationary. The coordinates marked with a ruler were a = (2.5m, 2.5m), b = (7.5m, 2.5m), and c = (7.5m, 7.5m). The coordinate data of the positioning tag was obtained using an indoor spatial reference system. After coordinate transformation, the real-satellite simulated signal generation module generated a real-satellite simulated signal consistent with the coordinates of the positioning tag and wirelessly broadcast it. The positioning status of the navigation receiver was observed. As shown in Table 1, the positioning tag and the navigation receiver output positioning results at all three test points a, b, and c, successfully verifying the feasibility of using an indoor spatial reference system to drive the generation of real-satellite simulated signals. The relative distances between the three test points a, b, and c were calculated. The results show that the simulated real-satellite simulated signal can change with the tag's position, achieving a position control accuracy at the centimeter level. Figure 4 This demonstrates the test results of generating simulated satellite signals from an autonomous vehicle in motion. Figure 4 (a) and Figure 4 As shown in (b), the positioning trajectory of the navigation receiver is basically consistent with the coordinate trajectory of the positioning tag, indicating that the navigation performance of the unmanned system in motion can be tested based on the indoor space reference system and the real satellite simulation signal generation module.

[0048] Then, a deception jamming signal generation test was conducted: the deception jamming signal generation module was started and initialized, and a deception jamming signal trajectory was planned in a circular mode, with the circumference set to 30m and 50m respectively. Signal generation was then enabled, and the positioning status of the navigation receiver was observed. Figure 5As shown, the navigation receiver's positioning trajectory is basically consistent with the preset trajectory, indicating that the deception jamming signal generation module can generate deception jamming signals according to preset parameters, which can support the detection of vulnerabilities in unmanned system navigation terminals and anti-deception performance testing under deception conditions. It should be noted that the working modes and signal parameters of the real-satellite simulation signal generation, deception jamming signal generation, and suppression jamming signal generation can all be flexibly configured through software.

[0049] Table 1. Results of Real-World Simulated Signal Generation Test (Static)

[0050]

[0051] In summary, the results of the real-satellite simulated signal generation test demonstrate that the indoor space reference system and the real-satellite simulated signal generation module can be used to test the navigation performance of unmanned systems under static / dynamic conditions. The results of the deception jamming signal generation test show that the deception jamming signal generation module can generate deception jamming signals according to preset parameters, supporting the detection of vulnerabilities in unmanned system navigation terminals and the testing of their anti-deception performance under deception conditions. Relying on the collaborative support of the unmanned system, the indoor space reference system, the complex electromagnetic environment simulation system, and the computer system, this application enables efficient indoor testing of unmanned system navigation safety, with controllable environmental conditions and costs, flexible and adjustable scene parameters, and accurate and reliable test data, providing a strong guarantee for the verification and optimization of unmanned system navigation performance.

[0052] In one embodiment, an indoor testing method for unmanned system navigation safety based on the above-described indoor testing device for unmanned system navigation safety is provided, the method comprising:

[0053] The unmanned system, indoor space reference system, complex electromagnetic environment simulation system and computer system are arranged and installed indoors;

[0054] Based on the application software of the indoor space reference system and the complex electromagnetic environment simulation system loaded in the computer system, the test environment configuration is completed, and after the configuration is completed, control commands are sent to the complex electromagnetic environment simulation system to start the test process control management and status monitoring.

[0055] The high-precision indoor positioning calculation of the unmanned system is performed based on the ultra-wideband technology adopted by the indoor space reference system, and the calculated position coordinates are used as indoor space reference information. The indoor space reference information is used on the one hand to drive the complex electromagnetic environment simulation system to generate a real satellite simulation signal that is consistent with the position information of the unmanned system, so that the signal characteristic parameters are updated synchronously with the position change of the unmanned system. On the other hand, it is used as a position information reference for the unmanned system to evaluate the navigation and positioning performance of the unmanned system under interference conditions.

[0056] Based on the complex electromagnetic environment simulation system receiving outdoor real satellite signals and control commands, it generates real satellite simulation signals, deception jamming signals, and suppression jamming signals in various frequency bands, and sends them to the unmanned system independently or in combination to support the satellite navigation safety test of the unmanned system in a complex electromagnetic environment.

[0057] The test data collected from unmanned systems, indoor space reference systems, and complex electromagnetic environment simulation systems are acquired by computer systems, stored, and processed to complete the evaluation of test results.

[0058] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0059] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application.

Claims

1. An indoor testing device for navigation safety of unmanned systems, characterized in that, The device includes an unmanned system, an indoor space reference system, a complex electromagnetic environment simulation system, and a computer system; The indoor space reference system is used to perform high-precision indoor positioning calculations for unmanned systems using ultra-wideband technology, and the calculated position coordinates are used as indoor space reference information. The indoor space reference information is used on the one hand to drive a complex electromagnetic environment simulation system to generate a real-satellite simulation signal that is consistent with the position information of the unmanned system, and on the other hand to serve as a reference for the position information of the unmanned system. The complex electromagnetic environment simulation system is used to generate simulated satellite signals, deception jamming signals, and suppression jamming signals in various frequency bands based on the received outdoor real satellite signals and control commands, and send them to the unmanned system independently or in combination to support the satellite navigation safety test of the unmanned system in a complex electromagnetic environment. The computer system is used to control and manage the test process and monitor its status by sending control commands to the indoor space reference system and the complex electromagnetic environment simulation system; and to collect, store and process the test data fed back by the unmanned system, the indoor space reference system and the complex electromagnetic environment simulation system to complete the evaluation of test results. The complex electromagnetic environment simulation system includes an integrated design of a real-satellite simulation signal generation module and a deception jamming signal generation module, as well as an independently designed suppression jamming signal generation module. The real satellite analog signal generation module and the deception jamming signal generation module are integrated into one unit. First, the outdoor real satellite signal is received through the same set of receiving antennas, and after being divided by the power divider module, it is input into the real satellite analog signal generation module and the deception jamming signal generation module respectively to obtain time information and real-time ephemeris information and to synchronize the time. Then, the computer system performs control and status monitoring, and according to the corresponding application software installed in the computer system, different functions are configured to generate baseband signals of real satellite analog signals and deception jamming signals respectively, and the real satellite analog signals and deception jamming signals are wirelessly broadcast through the corresponding configured radio frequency modules and transmitting antennas. The jamming signal generation module consists of a baseband signal generation unit, a multi-channel up-conversion unit, a signal synthesis and power control unit, and a transmitting antenna. The jamming signal generation process includes: according to test requirements, a computer system equipped with jamming signal generation application software sets the jamming type and jamming signal parameters, and generates corresponding control commands; the baseband signal generation unit generates the corresponding baseband jamming signal according to the received control commands; the multi-channel up-conversion unit performs signal up-conversion processing; the signal synthesis and power control unit performs signal synthesis and power control, and then the jamming signal is wirelessly broadcast via the transmitting antenna.

2. The indoor testing device for navigation safety of unmanned systems according to claim 1, characterized in that, The indoor spatial reference system includes multiple positioning base stations, positioning tags mounted on the unmanned system, and positioning software installed on the computer system. The positioning tags are deployed at the center of the geometric distribution of the multiple positioning base stations. The hardware structures of the positioning base stations and the positioning tags are basically the same, both based on the DW1000 chip, and different functions are switched through the configuration of the positioning software. The DW1000 chip uses ultra-wideband technology and a radio signal time-of-arrival positioning algorithm to perform high-precision indoor positioning calculations for the unmanned system.

3. The indoor testing device for navigation safety of unmanned systems according to claim 2, characterized in that, The process of high-precision indoor positioning calculation for unmanned systems by the indoor space reference system includes: When an unmanned system equipped with a positioning tag enters the signal coverage area of ​​any positioning base station, the positioning tag automatically contacts the positioning base station and sends a positioning data packet. After receiving the positioning data packet, the positioning base station calculates the distance to the moving positioning tag according to the built-in positioning rules, and sends the distance calculation data to the computer system with positioning software installed through the data transmission channel. The positioning software integrates the distance calculation data sent by each positioning base station and calculates and outputs the position coordinates of the positioning tag. The position coordinates are reported to the complex electromagnetic environment simulation system on the one hand, and are used as indoor space reference information to drive the complex electromagnetic environment simulation system to generate real satellite simulation signals and deception interference signals. On the other hand, they are used as a position information reference for the unmanned system to support the evaluation of the navigation and positioning accuracy and anti-interference and anti-deception performance of the unmanned system.

4. The indoor testing device for navigation safety of unmanned systems according to claim 1, characterized in that, The internal hardware composition of the real satellite simulation signal generation module is completely identical to that of the deception jamming signal generation module, including a receiver, a time synchronization unit, a mathematical simulation unit, and a signal generation unit. The receiver is used to perform information decoding on the received outdoor real satellite signal, send the decoded time information to the time synchronization unit, and send the decoded real-time ephemeris information to the mathematical simulation unit; the time synchronization unit is used to send time information to the mathematical simulation unit and the signal generation unit for time synchronization; the mathematical simulation unit is used to simulate and calculate the signal parameters and information data corresponding to the real satellite simulated signal or spoofing jamming signal according to the real-time ephemeris information and time information and the control instructions issued by the computer system; the signal generation unit is used to generate the baseband signal of the real satellite simulated signal or spoofing jamming signal in real time based on the simulation data calculated by the mathematical simulation unit, and then wirelessly broadcast the real satellite simulated signal or spoofing jamming signal through the corresponding externally configured radio frequency module and transmitting antenna.

5. The indoor testing device for navigation safety of unmanned systems according to claim 1, characterized in that, The suppression interference signal generation module supports generating the following types of suppression interference: single-frequency interference, multi-frequency interference, broadband interference, narrowband interference, pulse interference, full-time interference, frequency sweep interference, and fixed-frequency interference.

6. An indoor testing method for unmanned system navigation safety based on any one of claims 1-5, characterized in that, The method includes: The unmanned system, indoor space reference system, complex electromagnetic environment simulation system and computer system are arranged and installed indoors; Based on the application software of the indoor space reference system and the complex electromagnetic environment simulation system loaded in the computer system, the test environment configuration is completed, and after the configuration is completed, control commands are sent to the indoor space reference system and the complex electromagnetic environment simulation system to start the test process control management and status monitoring. The high-precision indoor positioning calculation of the unmanned system is performed using the ultra-wideband technology adopted by the indoor space reference system, and the calculated position coordinates are used as indoor space reference information. The indoor space reference information is used on the one hand to drive the complex electromagnetic environment simulation system to generate a real satellite simulation signal that is consistent with the position information of the unmanned system, so that the signal characteristic parameters are updated synchronously with the position change of the unmanned system. On the other hand, it is used as a position information reference for the unmanned system to evaluate the navigation and positioning performance of the unmanned system under interference conditions. The complex electromagnetic environment simulation system receives outdoor real satellite signals and control commands, generates real satellite simulation signals, deception jamming signals, and suppression jamming signals in each frequency band, and sends them to the unmanned system independently or in combination to support the satellite navigation safety test of the unmanned system in a complex electromagnetic environment. The computer system collects and stores test data from the unmanned system, indoor space reference system, and complex electromagnetic environment simulation system, and then evaluates the test results.

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