A control response-based unmanned aerial vehicle satellite navigation anti-deception detection method

Abstract

The present application relates to the field of satellite navigation technology, and discloses a kind of unmanned plane satellite navigation anti-deception detection method based on control response, and the turning maneuver flight of unmanned plane is controlled by remote control instruction, whether the change of satellite navigation positioning track angle and unmanned plane body heading angle in the process of maneuver flight is consistent is detected, and then whether satellite navigation positioning data is judged to be deceived.The present application can realize effective detection and identification on whether satellite navigation positioning data is deceived interference by using existing navigation equipment and computer resources on unmanned plane, without increasing high-precision inertial navigation or other autonomous navigation equipment, which reduces system configuration requirements and cost.The present application method is available throughout the process in the process of unmanned plane air cruising, not only can be applied to detecting and finding that satellite navigation positioning data is deceived interference when unmanned plane flies into satellite navigation interference area, but also can be applied to detecting and confirming that satellite navigation positioning data restores normal and is not deceived interference when unmanned plane flies out of satellite navigation interference area, with strong engineering applicability.

Description

Technical Field

[0001] This invention relates to the field of satellite navigation technology, and in particular to a method for detecting anti-spoofing of UAV satellite navigation based on control response. Background Technology

[0002] Satellite navigation is the core support for the safe and controllable flight of unmanned aerial vehicles (UAVs). Interference with satellite navigation systems is mainly divided into suppression and deception. Suppression jamming involves transmitting high-power jamming signals to cover the frequency bands of real satellite signals, preventing the satellite navigation receiver from positioning correctly. Deception jamming involves forging false signals with the same format as real satellite signals, inducing the satellite navigation receiver to calculate incorrect position, velocity, and other navigation information. Compared to suppression jamming, dealing with satellite navigation deception jamming is more complex, technically challenging, and has a greater impact on the safety and health of UAVs.

[0003] Currently, common methods for detecting satellite navigation signal spoofing primarily involve comparing the pure inertial navigation data from an inertial navigation system (INS) with the satellite navigation positioning and velocity data. The aim is to identify potential spoofing based on a reasonable range of INS pure inertial position and velocity divergence. However, this method requires high accuracy from the INS pure inertial navigation system. If the INS pure inertial position and velocity error is large, the threshold for the reasonable detection range must be increased to avoid false alarms, leading to a higher risk of missed detections. The INS pure inertial position and velocity error is related to its pure inertial duration. In practical engineering applications, to ensure the accuracy of INS pure inertial navigation, either a higher-precision INS device must be selected, which significantly increases system costs; or the usable time of the INS pure inertial data must be limited, meaning the detection method becomes unusable after a specified pure inertial time, greatly reducing its applicability.

[0004] Furthermore, when this detection method determines that the satellite navigation positioning data has been spoofed, the inertial navigation system (INS) needs to maintain pure INS operation. As the pure INS operation time increases, its pure INS navigation accuracy will further decrease. Therefore, this detection method will not be applicable when it is necessary to subsequently determine and confirm that the UAV has flown out of the satellite navigation interference zone and that the satellite navigation positioning data has returned to normal and has not been spoofed or interfered with. Summary of the Invention

[0005] To address the aforementioned issues, this invention proposes a control response-based method for detecting anti-spoofing of UAV satellite navigation systems. By controlling the UAV to perform turning maneuvers via remote control commands, the method detects whether the changes in the satellite navigation positioning track angle and the UAV's heading angle remain consistent during the maneuvering process, thereby determining whether the satellite navigation positioning data has been spoofed.

[0006] The technical solution adopted in this invention is as follows: A control response-based anti-spoofing detection method for UAV satellite navigation systems includes: When there is a situation where the drone may fly into or out of the satellite navigation interference zone, a roll flight command is sent to the drone through the ground station. After receiving the roll flight command, the flight control computer on the UAV controls the UAV to switch to command roll flight mode, and performs left or right turn maneuvers with a preset roll angle, while simultaneously executing the satellite navigation anti-spoofing detection strategy. During the execution of the satellite navigation anti-spoofing detection strategy, if the consistency between the satellite navigation positioning track angle and the UAV body heading angle exceeds a preset threshold, the detection result that the satellite navigation positioning data has been spoofed will be output immediately and sent to the ground station; if the UAV continues to maneuver and the turning angle reaches a preset angle threshold and the consistency does not exceed the preset threshold, the detection result that the satellite navigation positioning data has not been spoofed will be output and sent to the ground station. After receiving the detection results, the ground station remotely controls the UAV to exit the commanded roll flight mode, ending the current turning maneuver.

[0007] Furthermore, the method for determining the consistency between the satellite navigation positioning track angle and the UAV body heading angle includes: determining whether the angle deviation between the satellite navigation positioning track angle and the UAV body heading angle exceeds a preset deviation threshold, and whether the number of times the angle deviation exceeds the preset deviation threshold exceeds a preset number threshold.

[0008] Furthermore, the satellite navigation anti-spoofing detection strategy specifically includes: Determine if the current flight mode is the command roll flight mode; if yes, proceed to the next step; otherwise, exit the detection. If the flight mode was not the command roll flight mode in the previous moment, the current heading angle of the UAV body is recorded as the initial heading angle for this test, and the track deviation over-limit counter is cleared to zero before proceeding to the next step. Calculate the angular deviation between the satellite navigation positioning track angle and the UAV body heading angle. If the angular deviation exceeds the preset deviation threshold, increment the track deviation over-limit counter by 1, and then proceed to the next step. If the value of the track deviation over-limit counter exceeds the preset threshold, it is determined that the satellite positioning data has been spoofed, the detection result is output and sent to the ground station, and the detection is completed; if it does not exceed the threshold, proceed to the next step. The turning angle of the UAV in this test is calculated based on the current heading angle of the UAV and the initial heading angle. If the turning angle reaches the preset angle threshold, it is determined that the satellite positioning data has not been deceived, the test result is output and sent to the ground station, and the test is completed.

[0009] Furthermore, the preset deviation threshold, preset number threshold, and preset angle threshold are all parameters that are pre-configured by the ground station and stored in the flight control computer on the UAV.

[0010] Furthermore, the preset deviation threshold is 60°, and the preset number of times threshold is 3 times.

[0011] Furthermore, the preset angle threshold is 300°.

[0012] Furthermore, the preset roll angle is an angle determined in advance based on the UAV's model parameters and actual flight requirements.

[0013] Furthermore, the preset roll angles include: +10°, +15°, +20°, -10°, -15°, and -20°.

[0014] Furthermore, the method for measuring the heading angle of the UAV includes: obtaining the heading angle of the UAV body by measuring it through an airborne magnetic sensor or an inertial attitude control device.

[0015] Furthermore, when the UAV enters the command roll flight mode, the satellite navigation anti-spoofing detection strategy is automatically executed; when the UAV exits the command roll flight mode, the satellite navigation anti-spoofing detection strategy is stopped.

[0016] The beneficial effects of this invention are as follows: 1. This invention controls a drone to perform turning maneuvers by remote control commands, and detects whether the changes in the satellite navigation positioning track angle and the drone's heading angle are consistent during the maneuvering flight, thereby determining whether the satellite navigation positioning data has been spoofed.

[0017] 2. This invention utilizes existing navigation equipment and computer resources on UAVs, such as magnetic sensors or low-to-medium precision inertial attitude control devices, to effectively detect and identify whether satellite navigation positioning data has been spoofed or interfered with. This eliminates the need to add high-precision inertial navigation or other autonomous navigation equipment, thus reducing system configuration requirements and costs.

[0018] 3. The method of the present invention can be used throughout the entire flight of the UAV. It is applicable not only to detecting the deception and interference of satellite positioning data when the UAV enters the satellite navigation interference zone, but also to detecting and confirming that the satellite navigation positioning data has returned to normal and has not been deception and interference when the UAV leaves the satellite navigation interference zone. It has strong engineering applicability. Attached Figure Description

[0019] Figure 1 This is a flowchart of a UAV satellite navigation anti-spoofing detection method based on control response, according to Embodiment 1 of the present invention.

[0020] Figure 2 This is a flowchart of a UAV satellite navigation anti-spoofing detection method based on control response, which is an embodiment of the present invention. Detailed Implementation

[0021] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments are now described. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention; that is, the described embodiments are only a part of the embodiments of the invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0022] Example 1 like Figure 1 As shown, this embodiment provides a method for anti-spoofing detection of UAV satellite navigation based on control response, including: When there is a situation where the drone may fly into or out of the satellite navigation interference zone, a roll flight command is sent to the drone through the ground station. After receiving the roll flight command, the flight control computer on the UAV controls the UAV to switch to command roll flight mode, and performs left or right turn maneuvers with a preset roll angle, while simultaneously executing the satellite navigation anti-spoofing detection strategy. During the execution of the satellite navigation anti-spoofing detection strategy, if the consistency between the satellite navigation positioning track angle and the UAV body heading angle exceeds a preset threshold, the detection result that the satellite navigation positioning data has been spoofed will be output immediately and sent to the ground station; if the UAV continues to maneuver and the turning angle reaches a preset angle threshold and the consistency does not exceed the preset threshold, the detection result that the satellite navigation positioning data has not been spoofed will be output and sent to the ground station. After receiving the detection results, the ground station remotely controls the UAV to exit the commanded roll flight mode, ending the current turning maneuver.

[0023] It should be noted that this method, by actively triggering turning maneuvers and simultaneously performing anti-spoofing detection, can quickly verify the reliability of positioning data in critical scenarios where UAVs face the risk of satellite navigation interference. This avoids UAVs from deviating from flight or going out of control due to false positioning data, thereby improving the flight safety and positioning accuracy of UAVs in complex electromagnetic environments.

[0024] Preferably, the method for determining the consistency between the satellite navigation positioning track angle and the UAV body heading angle includes: determining whether the angle deviation between the satellite navigation positioning track angle and the UAV body heading angle exceeds a preset deviation threshold, and whether the number of times the angle deviation exceeds the preset deviation threshold exceeds a preset number threshold.

[0025] Specifically, during the satellite navigation anti-spoofing detection process, the flight control computer calculates the angle difference between the satellite navigation positioning track angle and the UAV's heading angle in real time and compares this difference with a preset deviation standard. Simultaneously, a dedicated counting module is set up to statistically analyze cases where the angle difference exceeds the deviation standard. When a single angle deviation reaches or exceeds the deviation standard, the counting module performs an increment count, and then continuously monitors subsequent angle deviations until the detection is complete. Finally, by combining whether the angle deviation exceeds the limit and whether the cumulative number of times it exceeds the limit reaches the set standard, a comprehensive judgment is made to determine whether the consistency of the two meets the requirements.

[0026] It should be noted that by using both the magnitude of the deviation and the number of times the limit is exceeded as dual judgment criteria, misjudgments caused by momentary interference or measurement errors can be effectively avoided, thereby improving the accuracy and reliability of consistency judgment and ensuring the rigor of anti-fraud test results.

[0027] Preferably, the anti-spoofing detection strategy for satellite navigation specifically includes the following steps: Determine if the current flight mode is the command roll flight mode; if yes, proceed to the next step; otherwise, exit the detection. If the flight mode was not the command roll flight mode in the previous moment, the current heading angle of the UAV body is recorded as the initial heading angle for this test, and the track deviation over-limit counter is cleared to zero before proceeding to the next step. Calculate the angular deviation between the satellite navigation positioning track angle and the UAV body heading angle. If the angular deviation exceeds the preset deviation threshold, increment the track deviation over-limit counter by 1, and then proceed to the next step. If the value of the track deviation over-limit counter exceeds the preset threshold, it is determined that the satellite positioning data has been spoofed, the detection result is output and sent to the ground station, and the detection is completed; if it does not exceed the threshold, proceed to the next step. The turning angle of the UAV in this test is calculated based on the current heading angle of the UAV and the initial heading angle. If the turning angle reaches the preset angle threshold, it is determined that the satellite positioning data has not been deceived, the test result is output and sent to the ground station, and the test is completed.

[0028] Specifically, after the satellite navigation anti-spoofing detection strategy is activated, the flight mode is first checked to confirm whether the UAV is currently in the commanded roll flight mode. If it is not in this mode, the detection process is terminated directly. If it is in this mode, the flight mode at the previous moment is further determined. If the previous moment was not in the commanded roll flight mode, it indicates that this is the first time entering the detection state. At this time, the current UAV body heading angle is recorded as the initial reference, and the counter used to count the number of deviations exceeding the limit is reset to the initial state. Subsequently, the angular deviation between the satellite navigation positioning track angle and the body heading angle is continuously calculated. Each time the deviation exceeds the limit, the counter is incremented accordingly. Then, it is determined whether the counter value has reached the preset number of times. If it has, the positioning data is immediately determined to be spoofed, a detection result is generated and sent to the ground station, and the detection process is terminated. If it has not reached the threshold, the difference between the current body heading angle and the initial heading angle is calculated to obtain the cumulative turning angle. When this turning angle reaches the preset angle standard, the positioning data is determined to be normal, the result is output and sent down, and the detection is completed.

[0029] It should be noted that this satellite navigation anti-spoofing detection strategy conducts detection through step-by-step verification and logical progression, clearly defining the execution conditions and judgment criteria for each stage. This makes the detection process clear, highly operable, and can quickly distinguish whether the positioning data is being spoofed, thus balancing detection efficiency and accuracy.

[0030] Preferably, the preset deviation threshold, preset number of attempts threshold, and preset angle threshold are all parameters pre-configured via the ground station and stored in the UAV's flight control computer. Specifically, before the UAV executes a flight mission, the operator sets the preset deviation threshold, preset number of attempts threshold, and preset angle threshold through the parameter configuration interface of the ground station, based on mission requirements, the flight area environment, and the UAV's performance parameters. After setting, the ground station sends these parameter data to the UAV's flight control computer via a communication link. The flight control computer receives the data and stores it in a designated parameter storage module. When subsequently executing the satellite navigation anti-spoofing detection strategy, the relevant parameters are directly retrieved from this module for judgment.

[0031] It should be noted that the method of pre-configuring and storing parameters makes parameter settings more flexible and convenient, and can adjust parameter standards according to different flight scenarios and mission requirements, thereby improving the adaptability and versatility of the detection method. At the same time, the parameters are stored locally on the UAV, which can ensure quick access during the detection process and guarantee the real-time nature of the detection.

[0032] Preferably, the preset deviation threshold can be set to 60°. Specifically, when configuring parameters, the specific angle of the preset deviation threshold is determined by considering the UAV's positioning accuracy, maneuverability, and characteristics of common satellite navigation deception interference. This angle value needs to be verified through multiple tests to ensure that it can effectively identify angle deviations caused by genuine deception interference, but will not frequently trigger false judgments due to an excessively small angle setting. After setting, it is stored in the flight control computer in the aforementioned manner.

[0033] It should be noted that this preset deviation threshold can accurately distinguish between normal angle errors and deviations caused by deceptive interference, providing a reliable benchmark for consistency judgment, ensuring the effectiveness of anti-deception detection, and avoiding the impact of improper threshold settings on detection results.

[0034] Preferably, the preset angle threshold can be set to 300°. Specifically, the specific value of the preset angle threshold is determined through experimental testing based on the UAV's turning maneuverability, the flight mission's requirements for detection time, and the stability characteristics of satellite navigation positioning data. This value must ensure that the UAV has sufficient time to monitor the consistency between the satellite navigation positioning track angle and the aircraft's heading angle during the turning maneuver at this angle, while also preventing excessively long detection times due to an excessively large angle, which would affect the UAV's normal flight mission.

[0035] It should be noted that the preset angle threshold can balance the sufficiency and efficiency of the detection, ensuring that the detection process can fully verify the reliability of the positioning data, while avoiding interference with the UAV flight mission due to excessive detection time, thus improving the practicality of the detection method.

[0036] Preferably, the preset roll angle is an angle determined in advance based on the UAV's model parameters and actual flight requirements. Specifically, when formulating a flight plan, the preset roll angle suitable for the UAV is determined by combining the UAV's fuselage structural strength, power system performance, flight stability, and other model parameters, while also considering the actual requirements for turning speed and turning radius during the flight mission. The value of the preset roll angle can be adjusted accordingly for different UAV models or different flight mission scenarios.

[0037] It should be noted that determining the preset roll angle based on the aircraft model parameters and actual needs can ensure that the UAV has sufficient maneuverability to complete the testing requirements when performing turning maneuvers, while also ensuring flight stability and safety, and avoiding loss of control or structural damage to the UAV due to unreasonable roll angle settings.

[0038] Preferably, the preset roll angle can be any one of +10° (roll to the right), +15°, +20°, -10° (roll to the left), -15°, -20°, etc. Specifically, based on the detection requirements under different flight scenarios and combined with the maneuverability limits of the UAV, several representative angles are selected as preset roll angle options. These angle values ​​cover different maneuver intensities, and operators can select an appropriate roll angle from the preset options and send it to the UAV according to factors such as the actual flight environment and interference risk level.

[0039] It should be noted that this embodiment provides a variety of reasonable preset roll angle reference values, which increases the flexibility and adaptability of the detection method, enabling it to cope with interference scenarios of different intensities and different flight requirements, so that the UAV can complete anti-spoofing detection through appropriate turning maneuvers under various conditions.

[0040] Preferably, the method for measuring the UAV's heading angle includes: measuring the UAV's heading angle using an onboard magnetic sensor or inertial attitude control device. Specifically, the UAV is equipped with a magnetic sensor or inertial attitude control device, which continuously collects the UAV's attitude data during flight. The magnetic sensor calculates the heading angle by sensing the Earth's magnetic field and combining it with the UAV's attitude parameters; the inertial attitude control device measures the UAV's angular velocity and acceleration using internal components such as gyroscopes and accelerometers, and outputs the heading angle data after integration and other processing. The measured heading angle data is transmitted to the flight control computer in real time, providing data support for anti-spoofing detection.

[0041] It should be noted that using airborne magnetic sensors or inertial attitude control equipment to measure the heading angle can ensure the real-time performance and accuracy of the heading angle data, providing reliable basic data for the consistency comparison between the satellite navigation positioning track angle and the aircraft heading angle, and ensuring the smooth implementation of anti-spoofing detection.

[0042] Preferably, when the UAV enters the command roll flight mode, the satellite navigation anti-spoofing detection strategy is automatically executed; when the UAV exits the command roll flight mode, the execution of the satellite navigation anti-spoofing detection strategy is stopped. Specifically, the UAV's flight control computer has a built-in pattern recognition module that monitors the flight mode status in real time. When a switch to command roll flight mode is detected, the pattern recognition module sends a trigger signal to start the execution program of the satellite navigation anti-spoofing detection strategy; when a switch from command roll flight mode to another mode is detected, the pattern recognition module sends a stop signal to terminate the execution of the satellite navigation anti-spoofing detection strategy, and simultaneously resets the detection-related parameters and counters to prepare for the next detection.

[0043] It should be noted that by switching flight modes to automatically control the start and stop of the detection strategy, the detection process and the maneuvering flight are precisely synchronized without the need for additional manual intervention. This improves the automation level and ease of operation of the detection method, while avoiding unnecessary resource consumption during non-detection phases.

[0044] Example 2 This embodiment provides a control response-based anti-spoofing detection method for UAV satellite navigation. By controlling the UAV to perform turning maneuvers through remote control commands, the method detects whether the changes in the track angle output by the satellite navigation positioning and the heading angle of the aircraft (measured by a magnetic sensor or inertial attitude device) remain consistent during the maneuver, thereby determining whether the satellite navigation positioning data has been spoofed.

[0045] Preferably, the anti-spoofing detection method for UAV satellite navigation in this embodiment includes the following steps: Step 1: When it is suspected that the drone may fly into the satellite navigation interference zone, or when it is estimated that the drone may fly out of the satellite navigation interference zone, the drone is remotely controlled from the ground station to switch to the left roll or right roll command flight mode (hereinafter referred to as command roll flight mode) to perform left or right turn maneuvers at a certain roll angle.

[0046] Step 2: After receiving the remote control command, the onboard flight control computer switches to the command roll flight mode and performs a left or right turn maneuver at a certain roll angle. At the same time, it activates the satellite navigation anti-spoofing detection algorithm processing logic based on control response. If the consistency between the satellite navigation positioning track angle and the UAV's heading angle exceeds the specified requirements during the maneuver, the system immediately outputs the detection result that the satellite navigation positioning data has been spoofed and sends it to the ground station. If the UAV continues to maneuver and the turning angle meets the specified requirements, and the consistency between the satellite navigation positioning track angle and the UAV's heading angle is within the specified requirements, the system outputs the detection result that the satellite navigation positioning data has not been spoofed and sends it to the ground station.

[0047] Step 3: Once the ground station receives the satellite navigation anti-spoofing detection results from the telemetry system, it can remotely operate to exit the command roll flight mode, end the turning maneuver required for this satellite navigation anti-spoofing detection, and perform the corresponding operation and processing procedures based on the detection results.

[0048] More preferably, such as Figure 2 As shown, the satellite navigation anti-spoofing detection algorithm based on control response in the flight control computer is as follows: a) If the current flight mode is the command roll flight mode, proceed to the next step to perform the satellite navigation anti-spoofing detection algorithm logic based on control response; otherwise, exit the detection. b) If the previous shot is not in the commanded roll flight mode, record the body heading angle value of the current shot as the initial heading angle value of this test maneuver, and clear the track deviation over-limit counter; then proceed to the next step; c) Calculate the angular deviation between the satellite navigation positioning track angle and the aircraft heading angle. If the angular deviation exceeds the specified threshold (e.g., 60°), increment the track deviation over-limit counter by 1; then proceed to the next step. d) If the track deviation over-limit counter value exceeds the specified threshold (e.g., 3 times), it is determined that the satellite positioning data has been spoofed. The detection result is output and sent to the ground station, and this detection is completed; otherwise, proceed to the next step. e) Calculate the turning angle of the UAV during this maneuver based on the current heading angle and the initial heading angle. If the UAV turning angle exceeds the specified threshold (e.g., 300°), it is determined that the satellite positioning data has not been spoofed. Output the detection result and send it to the ground station. This detection is then complete.

[0049] Example 3 This embodiment provides a control response-based anti-spoofing detection method for UAV satellite navigation, including: When it is necessary to detect whether the satellite positioning data has been spoofed, the drone can be switched to left roll or right roll command flight mode (referred to as command roll flight mode) remotely operated from the ground station, and then perform left or right turn maneuvers at a certain roll angle. During the commanded roll flight, the consistency between the satellite navigation positioning track angle and the UAV heading angle measured by other sensors is compared in real time. If the consistency does not meet the requirements, it is determined that the satellite navigation positioning data has been spoofed. If the consistency meets the requirements when the rolling flight turns the angle to the specified value, it is determined that the satellite navigation positioning data has not been spoofed.

[0050] Preferably, when the drone may fly into or out of the satellite navigation interference zone and it is necessary to detect whether the satellite navigation positioning data has been deceived or interfered with, or to confirm that the satellite navigation positioning data has returned to normal and has not been deceived or interfered with, the drone is remotely operated to perform a commanded roll flight.

[0051] Preferably, the commanded roll flight mode refers to commanded flight with any roll angle bank of +10° (right roll), +15°, +20°, -10° (left roll), -15°, -20°, etc.

[0052] Preferably, the heading angle of the UAV measured by other sensors refers to the heading angle of the UAV measured by an airborne magnetic sensor or an inertial attitude control device; more preferably, the inertial attitude control device is an inertial attitude control device with a gyroscope accuracy of not less than 1° / h.

[0053] Preferably, comparing the consistency of the satellite navigation positioning track angle with the UAV heading angle measured by other sensors refers to whether the angle deviation between the satellite navigation positioning track angle and the UAV heading angle is greater than an angle threshold, and whether the number of times the deviation exceeds the angle threshold is greater than a number threshold; more preferably, the angle threshold can be 60°, and the number of times the deviation exceeds the number threshold can be 3.

[0054] Preferably, the turning angle of the continuous roll flight reaches a specified value, specifically 300°.

[0055] The above description is merely a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the concept described herein through the above teachings or related technologies or knowledge. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

[0056] It should be noted that, for the sake of simplicity, the foregoing method embodiments are described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

Claims

1. A method for anti-spoofing detection of UAV satellite navigation based on control response, characterized in that, include: When there is a situation where the drone may fly into or out of the satellite navigation interference zone, a roll flight command is sent to the drone through the ground station. After receiving the roll flight command, the flight control computer on the UAV controls the UAV to switch to command roll flight mode, and performs left or right turn maneuvers with a preset roll angle, while simultaneously executing the satellite navigation anti-spoofing detection strategy. During the execution of the satellite navigation anti-spoofing detection strategy, if the consistency between the satellite navigation positioning track angle and the UAV body heading angle exceeds a preset threshold, the detection result that the satellite navigation positioning data has been spoofed will be output immediately and sent to the ground station; if the UAV continues to maneuver and the turning angle reaches a preset angle threshold and the consistency does not exceed the preset threshold, the detection result that the satellite navigation positioning data has not been spoofed will be output and sent to the ground station. After receiving the detection results, the ground station remotely controls the UAV to exit the commanded roll flight mode, ending the current turning maneuver.

2. The anti-spoofing detection method for UAV satellite navigation based on control response according to claim 1, characterized in that, The method for determining the consistency between the satellite navigation positioning track angle and the UAV body heading angle includes: determining whether the angle deviation between the satellite navigation positioning track angle and the UAV body heading angle exceeds a preset deviation threshold, and whether the number of times the angle deviation exceeds the preset deviation threshold exceeds a preset number threshold.

3. The anti-spoofing detection method for UAV satellite navigation based on control response according to claim 1, characterized in that, The satellite navigation anti-spoofing detection strategy specifically includes: Determine if the current flight mode is the command roll flight mode; if yes, proceed to the next step; otherwise, exit the detection. If the flight mode was not the command roll flight mode in the previous moment, the current heading angle of the UAV body is recorded as the initial heading angle for this test, and the track deviation over-limit counter is cleared to zero before proceeding to the next step. Calculate the angular deviation between the satellite navigation positioning track angle and the UAV body heading angle. If the angular deviation exceeds the preset deviation threshold, increment the track deviation over-limit counter by 1, and then proceed to the next step. If the value of the track deviation over-limit counter exceeds the preset threshold, it is determined that the satellite positioning data has been spoofed, the detection result is output and sent to the ground station, and the detection is completed; if it does not exceed the threshold, proceed to the next step. The turning angle of the UAV in this test is calculated based on the current heading angle of the UAV and the initial heading angle. If the turning angle reaches the preset angle threshold, it is determined that the satellite positioning data has not been deceived, the test result is output and sent to the ground station, and the test is completed.

4. The anti-spoofing detection method for UAV satellite navigation based on control response according to claim 3, characterized in that, The preset deviation threshold, preset number threshold, and preset angle threshold are all parameters that are pre-configured by the ground station and stored in the flight control computer on the UAV.

5. The anti-spoofing detection method for UAV satellite navigation based on control response according to claim 3, characterized in that, The preset deviation threshold is 60°, and the preset number of times threshold is 3 times.

6. The anti-spoofing detection method for UAV satellite navigation based on control response according to claim 3, characterized in that, The preset angle threshold is 300°.

7. The anti-spoofing detection method for UAV satellite navigation based on control response according to claim 1, characterized in that, The preset roll angle is an angle determined in advance based on the UAV's model parameters and actual flight requirements.

8. The anti-spoofing detection method for UAV satellite navigation based on control response according to claim 1, characterized in that, The preset roll angles include: +10°, +15°, +20°, -10°, -15°, and -20°.

9. The anti-spoofing detection method for UAV satellite navigation based on control response according to claim 1, characterized in that, The method for measuring the heading angle of the UAV includes: measuring the heading angle of the UAV body through an airborne magnetic sensor or an inertial attitude control device.

10. The anti-spoofing detection method for UAV satellite navigation based on control response according to claim 1, characterized in that, When the UAV enters the command roll flight mode, the satellite navigation anti-spoofing detection strategy is automatically executed; when the UAV exits the command roll flight mode, the satellite navigation anti-spoofing detection strategy is stopped.

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