A Multi-Scenario Simulation-Based Integrated Testing Method and System for Cross-Border Navigation Anti-Interference

Abstract

This invention discloses an integrated testing method and system for cross-border navigation anti-interference based on multi-scenario simulation. The method includes: constructing a multi-scenario simulation environment covering at least one cross-border navigation scenario and at least one interference scenario; generating a simulated navigation signal set containing multiple constellation navigation signals and an interference signal set containing multiple interference types based on this simulation environment; subsequently injecting the simulated navigation signal set and the interference signal set into the navigation terminal under test and executing an integrated testing process. This integrated testing process integrates terminal calibration verification and anti-interference performance evaluation into a unified test sequence. Then, a fusion judgment result is output through a multi-modal decision fusion method, ultimately generating an integrated test evaluation report. This invention, through the deep integration of multi-scenario simulation and integrated testing, achieves simultaneous verification of the calibration accuracy and anti-interference capability of cross-border navigation terminals in complex electromagnetic environments.

Description

Technical Field

[0001] This invention relates to the field of navigation testing technology, and more specifically, to an integrated cross-border navigation anti-interference testing method and system based on multi-scenario simulation. Background Technology

[0002] Global Navigation Satellite Systems (GNSS) have been widely used in transportation, surveying and mapping, precision agriculture, and emergency rescue. With the rapid development of cross-border logistics, cross-border transportation, and cross-border infrastructure construction, higher demands are being placed on the performance of navigation terminals in cross-border scenarios. Cross-border navigation faces three major challenges: First, signal switching between GNSS constellations in different countries—for example, transitioning from China's BeiDou system to Russia's GLONASS system—can lead to positioning interruptions or a sharp drop in accuracy; second, the electromagnetic environment in border areas is complex, with in-band or near-band interference from communication base stations, radar, and industrial equipment; and third, the coverage of differential reference stations within cross-border areas is sparse, making it difficult for terminals to obtain effective calibration references.

[0003] For navigation terminal testing, existing technologies have the following main shortcomings: Chinese patent CN115657086A discloses a satellite navigation terminal interference and anti-interference simulation verification platform. This platform realizes the verification of navigation terminals in interference environment through signal generation module, interference generation module and anti-interference performance evaluation module. However, its test scenario is limited and lacks the simulation capability for the key scenario of cross-border signal system switching. Moreover, calibration verification and anti-interference test are independent of each other and cannot be completed in a unified test process.

[0004] Chinese patent CN106646540A discloses an integrated desktop signal simulation platform that generates navigation and interference signals simultaneously with a single device, reducing system size and testing costs. However, this solution only focuses on signal generation integration and does not address the intelligent integration of the testing process or the fusion and evaluation of test results. Furthermore, it fails to consider the collaborative verification requirements of differential reference stations in cross-border navigation scenarios. In addition, none of the aforementioned existing technologies address the monitoring and prediction of calibration drift during long-term terminal use, nor do they provide dynamic scene orchestration capabilities driven by test intent. Summary of the Invention

[0005] The purpose of this invention is to provide an integrated testing method and system for cross-border navigation anti-interference based on multi-scenario simulation. This method can simultaneously verify the calibration accuracy and evaluate the anti-interference performance of cross-border navigation terminals in a unified multi-scenario simulation environment, and output a reliable comprehensive judgment result through multi-modal decision fusion.

[0006] The first aspect of this invention provides an integrated testing method for cross-border navigation anti-interference based on multi-scenario simulation, comprising the following steps: Construct a multi-scenario simulation environment, which includes at least one cross-border navigation scenario model and at least one interference scenario model; Based on the multi-scenario simulation environment, a simulated navigation signal set and an interference signal set are generated. The simulated navigation signal set includes two navigation signals, and the interference signal set includes interference signals of at least two types. An integrated test process is executed based on the simulated navigation signal set and the interference signal set. The integrated test process integrates the calibration verification and anti-interference performance evaluation of the navigation terminal under test into a unified test sequence. Obtain the test execution results of the integrated testing process, and generate an integrated test evaluation report based on the test execution results.

[0007] In this solution, the construction of the multi-scenario simulation environment specifically includes: The simulation maintains the time system, which converts Coordinated Universal Time (UTC) into atomic time, dynamic time, UTC, and constellation time by querying time conversion parameters, thereby completing the time control and synchronization of the simulation system. Satellite orbit operation simulation, which uses a pre-set joint algorithm to solve the satellite's perturbation motion equations in order to obtain real-time satellite orbit operation status data; Simulation of space environment effects, in which a pre-set joint model is used to simulate the effects of the ionosphere and troposphere on the propagation of navigation signals; Real-time simulation of user trajectory, which simulates the motion state information of stationary points, vehicles or aircraft by preset trajectory modes or reading external trajectory files in real time, and uses motion management scripts to control motion parameters. Antenna modeling and simulation involves dividing the grid according to the elevation and azimuth angles and setting the gain matrix. The signal amplitude modulation is calculated by looking up a table based on the angle of the satellite in the antenna coordinate system. The visible satellites are determined by combining the carrier attitude and the signal power is controlled. System integrity simulation, which generates satellite health information, ephemeris integrity information, device group delay, satellite clock bias and fault simulation information in real time based on initialization settings and simulation status, in order to generate navigation system integrity performance information; The perturbed satellite orbit simulation involves establishing the satellite's perturbed motion differential equations based on Earth's non-spherical gravity, third-body gravity, solar radiation pressure, and atmospheric drag, and solving for the perturbed orbit data.

[0008] In this scheme, an interference intensity-layered triggering mechanism is used to evaluate anti-interference performance, specifically including: Obtain the set core interference tolerance threshold ; Based on the core interference tolerance threshold and the context parameters of the current simulation scenario, calculate the first dynamic hierarchical threshold. Second dynamic grading threshold ; When the equivalent interference intensity of the interference signal set is lower than the first dynamic grading threshold At that time, execute the standard anti-interference test sub-process; When the equivalent interference intensity is within the first dynamic grading threshold With the second dynamic grading threshold During this period, an enhanced anti-interference test sub-process is executed, and the automatic recalibration of the navigation terminal under test is triggered. When the equivalent interference intensity is higher than the second dynamic grading threshold At that time, the extreme scenario anti-interference test sub-process is executed, and an interference alarm signal is generated.

[0009] In this solution, the cross-border navigation scenario model includes at least: The signal system switching scenario simulates the transition process of the navigation terminal under test from the primary signal of the first GNSS constellation to the primary signal of the second GNSS constellation during cross-border operations. The transition process includes a signal search phase, a signal acquisition phase, and a signal tracking and reconstruction phase. The weak signal transition corridor scenario simulates the gradual process of signal strength attenuation from normal level to the lowest receptive level and then back to normal level in a cross-border area due to terrain obstruction and / or weak signal coverage. Multi-system signal overlap scenario: Simulates the signal superposition state when two or more navigation signal systems are simultaneously covered in a cross-border area and the signal strength changes alternately.

[0010] In this solution, the integrated testing process employs a multimodal decision fusion approach for terminal calibration and verification, including: The receiving link performance of the navigation terminal under test is evaluated based on a set of signal quality indicators through the first decision path, and the first evaluation result and the first confidence level are output. The positioning performance of the navigation terminal under test is evaluated based on a set of positioning accuracy indicators through the second decision path, and a second evaluation result and a second confidence level are output. The interference suppression performance of the navigation terminal under test is evaluated based on the anti-interference response index set through the third decision path, and the third evaluation result and the third confidence level are output. Based on the first evaluation result, the second evaluation result, and the third evaluation result and their corresponding confidence levels, a fusion determination result is output through a preset fusion arbitrator, wherein the arbitration rules of the fusion arbitrator are as follows: When the evaluation results of at least two decision paths are consistent and the corresponding confidence levels both exceed the preset fusion decision confidence threshold, the consistent evaluation result is adopted. When the evaluation results of different decision paths are inconsistent, the evaluation result with the highest confidence level shall prevail. When the confidence level of all decision paths is lower than the preset fusion decision confidence level threshold, it is determined that no credible conclusion can be drawn in the current test scenario, and supplementary test suggestions are generated.

[0011] In this solution, the integrated testing process also includes a cross-border differential reference station collaborative verification step, specifically including: Receive reference positioning data from at least one differential reference station in a cross-border area, the reference positioning data including the precise coordinates of the reference station, the signal quality parameters of each GNSS constellation observed by the reference station, and the atmospheric delay correction parameters of the reference station; The reference positioning data is used as the calibration true value, and differential comparison is performed during the calibration verification process of the navigation terminal under test to calculate the positioning deviation vector of the navigation terminal under test. When the magnitude of the positioning deviation vector exceeds the preset cross-border positioning tolerance threshold, the calibration status of the navigation terminal under test is determined to be unqualified, and a calibration correction suggestion is generated.

[0012] A second aspect of the present invention also provides an integrated cross-border navigation anti-interference test system based on multi-scenario simulation, comprising a memory and a processor. The memory includes a program for an integrated cross-border navigation anti-interference test method based on multi-scenario simulation. When the processor executes the program for the integrated cross-border navigation anti-interference test method based on multi-scenario simulation, it performs the following steps: Construct a multi-scenario simulation environment, which includes at least one cross-border navigation scenario model and at least one interference scenario model; Based on the multi-scenario simulation environment, a simulated navigation signal set and an interference signal set are generated. The simulated navigation signal set includes two navigation signals, and the interference signal set includes interference signals of at least two types. An integrated test process is executed based on the simulated navigation signal set and the interference signal set. The integrated test process integrates the calibration verification and anti-interference performance evaluation of the navigation terminal under test into a unified test sequence. Obtain the test execution results of the integrated testing process, and generate an integrated test evaluation report based on the test execution results.

[0013] A third aspect of the present invention provides a computer-readable storage medium comprising a machine program for a cross-border navigation anti-interference integrated test method based on multi-scenario simulation. When the cross-border navigation anti-interference integrated test method program based on multi-scenario simulation is executed by a processor, it implements the steps of the cross-border navigation anti-interference integrated test method based on multi-scenario simulation as described in any of the preceding claims.

[0014] The fourth aspect of the present invention provides a computer program product, which includes computer program code. When the computer program code is run on a computer, the computer implements the steps of the integrated cross-border navigation anti-interference test method based on multi-scenario simulation as described in any of the preceding claims.

[0015] The fifth aspect of the present invention provides an electronic device, the electronic device comprising: a processor and a memory; wherein the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the electronic device performs the steps of the integrated cross-border navigation anti-interference test method based on multi-scenario simulation as described in any of the preceding claims.

[0016] This invention discloses an integrated testing method and system for cross-border navigation anti-interference based on multi-scenario simulation, which effectively solves the problems of incomplete scenario coverage, fragmented testing process, and insufficient reliability of judgment results in cross-border navigation terminal testing, and provides a solution for quality assurance of cross-border navigation terminals. Attached Figure Description

[0017] Figure 1 The diagram illustrates the steps of an integrated cross-border navigation anti-interference testing method based on multi-scenario simulation according to the present invention. Figure 2 The simulation flowchart of the cross-border navigation anti-interference integrated test method based on multi-scenario simulation of the present invention is shown; Figure 3 The diagram illustrates the implementation of satellite orbit operation in a cross-border navigation anti-interference integrated testing method based on multi-scenario simulation according to the present invention. Figure 4 The antenna pattern of a unidirectional end-fire array in a cross-border navigation anti-interference integrated test method based on multi-scenario simulation of the present invention is shown. Figure 5 A trajectory simulation diagram is shown in the cross-border navigation anti-interference integrated test method based on multi-scenario simulation of the present invention; Figure 6 This paper presents another trajectory simulation diagram in the cross-border navigation anti-interference integrated test method based on multi-scenario simulation of the present invention; Figure 7The diagram shows a block diagram of a cross-border navigation anti-interference integrated test system based on multi-scenario simulation according to the present invention. Detailed Implementation

[0018] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0019] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0020] Specifically, Figure 1 The diagram illustrates the steps of an integrated cross-border navigation anti-interference testing method based on multi-scenario simulation according to the present invention.

[0021] like Figure 1 As shown, this invention discloses an integrated testing method for cross-border navigation anti-interference based on multi-scenario simulation, including the following steps: S102, Construct a multi-scenario simulation environment, wherein the multi-scenario simulation environment includes at least one cross-border navigation scenario model and at least one interference scenario model; S104, Generate a simulated navigation signal set and an interference signal set based on the multi-scenario simulation environment, wherein the simulated navigation signal set includes two navigation signals and the interference signal set includes interference signals of at least two types. S106, Based on the simulated navigation signal set and the interference signal set, an integrated test process is executed. The integrated test process integrates the calibration verification and anti-interference performance evaluation of the navigation terminal under test into a unified test sequence. S108, obtain the test execution results of the integrated test process, and generate an integrated test evaluation report based on the test execution results.

[0022] It should be noted that, in this embodiment, the current factory testing and acceptance testing of navigation terminals mostly adopt a segmented testing mode. For example, a signal simulator is first used to test the receiving sensitivity, then the equipment is switched to test the anti-interference, and finally the positioning accuracy is verified by running a route in the field. The three processes are independent and the data cannot be correlated. An anomaly in one link is often exposed in another link, which is time-consuming and laborious. The core idea of ​​this invention is to unify the signal receiving performance, positioning calculation accuracy and anti-interference response into a multi-scenario simulation environment and complete it at once. In terms of the construction method of the multi-scenario simulation environment, the cross-border navigation scenario model is organized into a grid according to the geographical region. Each grid corresponds to the GNSS constellation visibility, signal strength distribution and typical interference source characteristics of the corresponding region. The interference scenario model is classified according to the interference type and interference-to-signal ratio, covering four basic types: continuous wave interference, frequency sweep interference, pulse interference and broadband noise interference. The generation of simulated navigation signals is based on the signal parameters and ephemeris model in the publicly available GNSS interface control file. The signal power level is controlled between -130dBm and -90dBm, in 1dB increments.

[0023] Furthermore, in this embodiment, an integrated test process is then executed based on the simulated navigation signal set and the interference signal set. The integrated test process integrates the calibration verification and anti-interference performance evaluation of the navigation terminal under test into a unified test sequence. The test process scheduler implements the state machine management of the integrated test process, including the timing scheduling of scene switching, interference injection timing control, calibration verification triggering, and evaluation report generation. To facilitate user access, the test execution results of the integrated test process can be obtained, thereby generating an integrated test evaluation report based on the test execution results.

[0024] According to an embodiment of the present invention, the construction of the multi-scenario simulation environment specifically includes: The simulation maintains the time system, which converts Coordinated Universal Time (UTC) into atomic time, dynamic time, UTC, and constellation time by querying time conversion parameters, thereby completing the time control and synchronization of the simulation system. Satellite orbit operation simulation, which uses a pre-set joint algorithm to solve the satellite's perturbation motion equations in order to obtain real-time satellite orbit operation status data; Simulation of space environment effects, in which a pre-set joint model is used to simulate the effects of the ionosphere and troposphere on the propagation of navigation signals; Real-time simulation of user trajectory, which simulates the motion state information of stationary points, vehicles or aircraft by preset trajectory modes or reading external trajectory files in real time, and uses motion management scripts to control motion parameters. Antenna modeling and simulation involves dividing the grid according to the elevation and azimuth angles and setting the gain matrix. The signal amplitude modulation is calculated by looking up a table based on the angle of the satellite in the antenna coordinate system. The visible satellites are determined by combining the carrier attitude and the signal power is controlled. System integrity simulation, which generates satellite health information, ephemeris integrity information, device group delay, satellite clock bias and fault simulation information in real time based on initialization settings and simulation status, in order to generate navigation system integrity performance information; The perturbed satellite orbit simulation involves establishing the satellite's perturbed motion differential equations based on Earth's non-spherical gravity, third-body gravity, solar radiation pressure, and atmospheric drag, and solving for the perturbed orbit data.

[0025] It should be noted that, in this embodiment, as Figure 2 As shown, the simulation flowchart illustrates the process. In orbit calculations, time is an independent variable. Different time systems are used to calculate different physical quantities. For example, UT1 is used when calculating the station position or the satellite's nadir trajectory; dynamic time is used when calculating the coordinates of the sun, moon, and planets; UTC is used for the sampling time of various observations; and Earth Time (TT) can be used as the independent variable in the satellite's motion equations. Therefore, it is essential to understand the definitions and conversions between these time systems. Thus, multiple time and coordinate systems need to be maintained during the simulation, including Coordinated Universal Time (UTC), Atomic Time System (TAI), Dynamic Time System (TT), Universal Time (UT1 and UT2), BDS constellation time, and GPS constellation time. Conversions between these time systems are achieved by querying the time conversion parameters (second jumps, time differences, astronomical parameters, etc.) maintained and published by relevant world time system maintenance organizations. This enables time control and synchronization of the entire simulation system. Specifically, in real-time simulation, Coordinated Universal Time is used as the unified system time, and conversions from Coordinated Universal Time to various time systems are completed through time system conversion relationships.

[0026] Furthermore, in this embodiment, when studying satellite motion, if only the effect of Earth's gravity on the satellite is considered, and it is assumed that Earth is a sphere with uniformly distributed mass concentrated at its center, then Kepler's laws can completely describe the satellite motion. However, in reality, Earth's mass is not uniformly distributed, and its shape is neither spherical nor regular. In addition, artificial Earth satellites are also subject to the gravitational pull of the Sun and Moon, solar radiation pressure, atmospheric drag, and Earth's tides when orbiting in space. Therefore, the satellite is subjected to the combined effects of these various external forces, making its actual motion much more complex than two-body motion, commonly referred to as perturbed motion. The actual orbit of a satellite with perturbed motion is called a perturbed orbit, and the force causing the perturbed orbit is called the perturbing force. According to Newton's second law, the equations of perturbed motion of the satellite are as follows: ; in, For the perturbation equations, Satellite quality; Earth's center of mass gravity; Earth's non-spherical gravity; Moon gravity; Sun gravity; Solar radiation pressure; Atmospheric drag; Based on the configuration of the system's perturbation terms, the differential equation of satellite motion is established according to the Earth's tidal forces. A high-order Runge-Kutta single-step numerical integration algorithm and a high-order Adams-Cowell multi-step numerical integration algorithm are proposed as a joint algorithm to solve the differential equation of perturbation motion and acquire high-precision satellite orbital status data in real time. A schematic diagram of the satellite orbital operation is shown below. Figure 3 As shown.

[0027] Furthermore, in this embodiment, the simulation of space environment effects mainly includes ionospheric effect simulation and tropospheric time delay effect simulation. Specifically, the ionospheric effect simulation module uses the Klobuchar ionospheric mathematical model and its improved version as components of the preset joint model. The appropriate ionospheric model is selected based on different real-time and realism requirements to simulate ionospheric changes under natural conditions and their impact on navigation satellite signal propagation. The tropospheric effect simulation module uses improved Saastamoinen and Hopfield models as another component of the preset joint model to simulate tropospheric changes under natural conditions and their impact on navigation satellite signal propagation.

[0028] Furthermore, in this embodiment, user trajectory simulation includes: simulation of stationary points, vehicles, aircraft, and trajectory file reading. During user trajectory simulation, corresponding motion models, force models, and numerical integration methods are used to simulate user position, velocity, acceleration, jerk, attitude, and other state information, or user state information obtained from a customized motion model is directly received. At the same time, by establishing a user motion management script, user attributes and parameters such as user type, motion type, start time of various motions, motion duration, sampling interval, motion start state, motion model, and model parameters are controlled. It supports two trajectory simulation functions: preset trajectory simulation and trajectory file import. In the preset trajectory simulation mode, simulation is performed according to the pre-set user operation mode; in the trajectory file import simulation mode, simulation is performed by reading the disk trajectory file in real time.

[0029] Furthermore, in this embodiment, during antenna modeling and simulation, antenna pattern modeling is achieved by dividing the grid according to elevation and azimuth resolutions and setting the grid antenna gain. The antenna pattern gain is generally expressed as... , It is the azimuth angle. For elevation angles, when the model is simple, analytical functions can be used to model the antenna pattern. For example, the model of a unidirectional end-fire array is as follows: ,like Figure 4 The image shows the antenna pattern of a unidirectional end-fire array, where the antenna pattern can be determined based on the azimuth angle. and elevation angle The calculated radiation pattern gain matrix is ​​represented in a table, with each row indicating elevation angle. The column represents the azimuth angle. The value in each cell represents the antenna surface corresponding to... and The attenuation value of the signal in the region is calculated. The antenna gain calculation module calculates the elevation and azimuth angles of the satellite in the antenna coordinate system, and combines the antenna gain pattern to calculate the amplitude modulation of the signal, making the simulation closer to the real situation.

[0030] Specifically, in this embodiment, the antenna gain calculation module calculates the signal amplitude modulation each time it is interrupted, based on the satellite's elevation and azimuth angles in the antenna coordinate system and in conjunction with the antenna gain pattern. The main steps for calculating the simulator output signal state are as follows: (1) Based on the positions of each satellite and the target, calculate the satellite's elevation and azimuth angles. Combined with the antenna pattern and carrier attitude, determine which satellite signals the receiver can receive. These satellites are considered visible satellites, and the simulator only generates signals from these satellites; (2) Calculate the accurate orbit of the visible satellite to obtain the spatial delay of signal transmission; (3) Calculate the impact of each error source on each visible satellite, and determine the satellite pseudocode phase and carrier frequency received by the receiver; (4) Calculate the received signal power level.

[0031] Within the simulation interval, the elevation angle of the carrier can be approximated as constant. However, due to the carrier's rotation, its azimuth angle will continuously change, resulting in periodic changes in power attenuation. In specific implementation, the values ​​corresponding to the gain matrix of the radiation pattern are stored in the FPGA's memory. At each simulation interval, the carrier attitude information (pitch angle and azimuth angle) calculated by the mathematical simulation unit is received to determine the initial state of the signal power. During the simulation interval, the antenna radiation patterns at different azimuth angles are periodically traversed according to the carrier rotation speed periodically sent by the mathematical simulation unit, and the signal is controlled according to the power attenuation results obtained by looking up the table.

[0032] Furthermore, in this embodiment, the navigation system integrity information mainly includes satellite health information, ephemeris integrity information, equipment group delay information, satellite clock bias, satellite and signal faults, etc. The navigation system integrity performance is mainly determined by the navigation constellation design, the integrity of the navigation satellite broadcast ephemeris, the delay error of the onboard equipment at each frequency of the navigation satellite, and the deviation of the onboard atomic clock of the satellite. When simulating the navigation simulation source, it is necessary to generate the integrity performance information of each satellite of each navigation system in real time according to the user initialization settings and simulation status. Its main simulation functions include satellite health information generation, ephemeris integrity information generation (ephemeris accuracy information generation, differential correction information generation and pseudorange error estimation), equipment group delay simulation, satellite clock bias simulation and fault simulation (satellite clock frequency, phase jump, navigation message error, interruption, navigation signal power reduction, interruption).

[0033] Furthermore, in this embodiment, the Earth is a sphere with a uniformly distributed mass, concentrated at its center. Kepler's laws can then fully describe the satellite's motion. However, in reality, the Earth's mass is not uniformly distributed, and its shape is neither spherical nor regular. Therefore, in addition to the gravitational pull of the irregular Earth sphere, artificial Earth satellites are also subject to the gravitational pull of the Sun and Moon, solar radiation pressure, atmospheric drag, and Earth's tides. As a result, the satellite is subjected to the combined effects of these various external forces, making its actual motion much more complex than two-body motion. This is commonly referred to as perturbed motion, and the actual orbit of the satellite under perturbed motion is called the perturbed orbit. The force causing the perturbed orbit is called the perturbing force, which includes perturbation from the Earth's non-spherical shape, perturbation from the gravitational pull of a third body, perturbation from solar radiation pressure, and perturbation from atmospheric drag.

[0034] Specifically, in this embodiment, when applied, a trajectory model is built based on MATLAB / Simulink to support spatiotemporal synchronous simulation of the carrier's "acceleration, deceleration, turning, and elevation changes," simulating the dynamic behavior of cross-border highways (such as the route of the Friendship Pass border crossing between China and Vietnam), inland waterway vessels (Xijiang River waterway), and low-altitude drone operations (rice paddy fields / mountainous areas). To verify the receiver's performance under different motion states, the navigation simulation needs to simulate the motion trajectories of various targets, such as... Figure 5 and Figure 6 As shown, the diagram illustrates the trajectory simulation using MATLAB. Based on the potential applications of satellite navigation systems, receiver carriers can be broadly categorized as follows: drones, ships, and automobiles. For each type of target, considering its common motion patterns, users only need to select the appropriate carrier type and input some characteristic parameters for the navigation simulation to automatically generate the target's trajectory. Based on the different types of carriers, various motion equations for each type of carrier are established, reflecting the target's motion state in space.

[0035] Specifically, in this embodiment, during implementation, a multi-frequency GNSS signal simulator (supporting BeiDou B1 / B2 and GPS L1 / L2 frequencies) is procured to simulate real-world environments such as signal attenuation (-150 to -120 dBm), multipath effects (delay 0-100 ns), and ionospheric disturbances. The simulator outputs simulated signals that can be directly connected to navigation terminals. The satellite signal simulation consists of two parts: a software interface and a data simulation kernel. The software interface mainly manages, controls, displays real-time information, transmits and stores data for the simulation system. The data simulation kernel mainly simulates the operation of each navigation constellation, navigation message generation, user terminals, and signal transmission environment.

[0036] According to an embodiment of the present invention, an interference strength-layered triggering mechanism is used to evaluate anti-interference performance, specifically including: Obtain the set core interference tolerance threshold ; Based on the core interference tolerance threshold and the context parameters of the current simulation scenario, calculate the first dynamic hierarchical threshold. Second dynamic grading threshold ; When the equivalent interference intensity of the interference signal set is lower than the first dynamic grading threshold At that time, execute the standard anti-interference test sub-process; When the equivalent interference intensity is within the first dynamic grading threshold With the second dynamic grading threshold During this period, an enhanced anti-interference test sub-process is executed, and the automatic recalibration of the navigation terminal under test is triggered. When the equivalent interference intensity is higher than the second dynamic grading threshold At that time, the extreme scenario anti-interference test sub-process is executed, and an interference alarm signal is generated.

[0037] It should be noted that in this embodiment, if the same test procedure is performed regardless of the interference intensity, two problems will arise: under light interference, time will be wasted running stringent test items, and under strong interference, the test will not be thorough enough, missing weak points. However, this embodiment can match different depths of testing according to the severity of the interference, wherein the core interference tolerance threshold is... This is the maximum tolerable interference-to-signal ratio stated in the specifications of the terminal under test. In engineering, it is generally taken from the interference tolerance value in the terminal's interference immunity technical specifications, typically 30dB to 40dB for civilian terminals; dynamic grading threshold. and The calculation takes into account the context parameters of the current scenario, including the number of constellations, signal frequency bandwidth, and terminal speed. Among these, the context parameters have a direct impact on interference tolerance: under multi-constellation conditions, the terminal has more signal sources for reference, and the actual tolerance is about 3dB to 5dB higher than that of a single constellation; the Doppler effect will be worsened by about 2dB under high-speed motion.

[0038] Specifically, in this embodiment, the above factors are incorporated into the dynamic threshold calculation through a weighting function. The standard test sub-process only runs three sets of interference-to-signal ratios for each of the four basic interference types. The enhanced test is expanded to eight sets and interference bandwidth scanning is added. The extreme scenario triggers a cross-combination of all interference types and interference-to-signal ratios and forces recalibration. The timing of the recalibration is controlled before the enhanced test begins to avoid contamination of calibration accuracy by the interference state. In actual testing, the hierarchical triggering mechanism reduces the average test time by about 35% compared to the fixed process, while the detection rate under extreme conditions is improved by about 25%.

[0039] According to an embodiment of the present invention, the cross-border navigation scenario model includes at least: The signal system switching scenario simulates the transition process of the navigation terminal under test from the primary signal of the first GNSS constellation to the primary signal of the second GNSS constellation during cross-border operations. The transition process includes a signal search phase, a signal acquisition phase, and a signal tracking and reconstruction phase. The weak signal transition corridor scenario simulates the gradual process of signal strength attenuation from normal level to the lowest receptive level and then back to normal level in a cross-border area due to terrain obstruction and / or weak signal coverage. Multi-system signal overlap scenario: Simulates the signal superposition state when two or more navigation signal systems are simultaneously covered in a cross-border area and the signal strength changes alternately.

[0040] It should be noted that, in this embodiment, the special characteristic of cross-border navigation lies in the fact that it is not a simple jump from one region to another, but rather involves a transition zone with a width ranging from several hundred meters to several kilometers. Therefore, within this transition zone, the terminal's radio frequency front-end may simultaneously receive two or even three sets of GNSS signals. The receiver's internal channel allocation strategy, signal optimization algorithm, and positioning solution fusion logic are all undergoing drastic switching. Most existing testing schemes only test under single-constellation conditions, at most performing a step test of a sudden switch between two constellations, completely ignoring the gradual characteristics of the transition zone. In contrast, the signal system switching scenario simulated in this embodiment represents a complete transition chain, with signal power changes following a sigmoid function curve, and the switching midpoint set at the geographical border. The location and transition zone width can be configured to three levels: 500m, 1km, and 2km. Among them, the weak signal transition corridor scenario simulates the typical channel of a mountain port or tunnel port. The signal attenuates from the normal value of -120dBm through a steep slope to a weak signal area of ​​-145dBm, and then recovers through a gentle slope. The duration of the entire process can be configured from 60s to 300s. In the multi-system overlapping scenario, the terminal not only faces the signal overlap of BDS and GPS, but may also have the superimposed GLONASS FDMA signal. The intermodulation products and mirror responses of signals of different systems inside the receiver need to be paid special attention to. Through the combined coverage of these three special scenarios, the signal switching success rate of the cross-border navigation terminal has been improved from 91% in the conventional test to 99.2% after simulation verification.

[0041] According to an embodiment of the present invention, the integrated testing process employs a multimodal decision fusion approach for terminal calibration verification, including: The receiving link performance of the navigation terminal under test is evaluated based on a set of signal quality indicators through the first decision path, and the first evaluation result and the first confidence level are output. The positioning performance of the navigation terminal under test is evaluated based on a set of positioning accuracy indicators through the second decision path, and a second evaluation result and a second confidence level are output. The interference suppression performance of the navigation terminal under test is evaluated based on the anti-interference response index set through the third decision path, and the third evaluation result and the third confidence level are output. Based on the first evaluation result, the second evaluation result, and the third evaluation result and their corresponding confidence levels, a fusion determination result is output through a preset fusion arbitrator, wherein the arbitration rules of the fusion arbitrator are as follows: When the evaluation results of at least two decision paths are consistent and the corresponding confidence levels both exceed the preset fusion decision confidence threshold, the consistent evaluation result is adopted. When the evaluation results of different decision paths are inconsistent, the evaluation result with the highest confidence level shall prevail. When the confidence level of all decision paths is lower than the preset fusion decision confidence level threshold, it is determined that no credible conclusion can be drawn in the current test scenario, and supplementary test suggestions are generated.

[0042] It should be noted that, in this embodiment, relying on a single indicator to determine the qualification of a terminal is very risky. Good signal quality does not equal high positioning accuracy (the receiver's post-processing algorithm may have problems), and high positioning accuracy does not equal strong anti-interference (data may look good in a clean environment, but fail when interference is added). The three decision paths in this embodiment are independent in principle: The first path looks at signal quality, using radio frequency level indicators such as carrier-to-noise ratio, signal lock indication, and root mean square of pseudorange residuals, and outputs a binary conclusion of qualified / unqualified and a confidence level (between 0 and 1) based on the fluctuation range of the indicators through statistical thresholding; the second path looks at positioning accuracy, using circular error probability and the 95th percentile of three-dimensional positioning error, with the confidence level calculated from the number of available satellites and geometric precision factor; the third path looks at anti-interference... Interference is assessed using the carrier-to-noise ratio attenuation and positioning accuracy degradation when interference is present. Confidence is related to the equivalent interference-to-signal ratio and the coverage integrity of the interference type. The core logic of the fusion arbitrator is not a simple 2 / 3 vote. If two paths are deemed qualified but both have a confidence of only 0.55, and the fusion confidence threshold (generally 0.7) is not met, it will not be forcibly deemed qualified. Instead, it will be marked as questionable and supplementary testing will be recommended. It should be noted that the key point of this embodiment is to avoid low confidence results from lowering the overall judgment quality. The specific content of the supplementary testing recommendations includes the suggested types of interference to be added, the suggested frequencies to be retested, and the suggested extended test duration. In actual parameter tuning, it was found that the effect of the fusion confidence threshold between 0.65 and 0.75 is not significantly different, but the misjudgment rate begins to increase significantly when it is below 0.6.

[0043] According to an embodiment of the present invention, the integrated testing process further includes a cross-border differential reference station collaborative verification step, specifically including: Receive reference positioning data from at least one differential reference station in a cross-border area, the reference positioning data including the precise coordinates of the reference station, the signal quality parameters of each GNSS constellation observed by the reference station, and the atmospheric delay correction parameters of the reference station; The reference positioning data is used as the calibration true value, and differential comparison is performed during the calibration verification process of the navigation terminal under test to calculate the positioning deviation vector of the navigation terminal under test. When the magnitude of the positioning deviation vector exceeds the preset cross-border positioning tolerance threshold, the calibration status of the navigation terminal under test is determined to be unqualified, and a calibration correction suggestion is generated.

[0044] It should be noted that, in this embodiment, the terminal calibration verification also includes a calibration drift feature extraction step, specifically including: Acquire calibration deviation data of the navigation terminal under test in multiple consecutive test cycles to form a calibration deviation time series; Trend analysis is performed on the calibration deviation time series to extract calibration drift characteristic parameters, including drift direction and drift rate; The calibration drift characteristic parameters are used as terminal health status prediction signals. When the drift rate exceeds the preset drift rate warning threshold, terminal performance degradation warning information is generated.

[0045] It should be noted that, in this embodiment, calibration deviation is an error that needs to be eliminated in conventional thinking, and zeroing should be performed after each calibration. Therefore, the evolution pattern of calibration deviation itself is a useful diagnostic signal. The RF front-end gain, crystal oscillator frequency, and filter group delay of the navigation terminal will slowly drift with temperature cycling, aging, and stress release. This drift may only be a few tenths of a dB or a few nanoseconds in a single test, which may be drowned out by noise and imperceptible. However, if the test data of more than 30 consecutive tests are pulled into a time series, the direction and rate of drift will become apparent. For example, the typical aging drift rate of a temperature-compensated crystal oscillator is about ±1 ppm per year, but it may accelerate to more than ±5 ppm per year when it is close to failure. Therefore, in this embodiment, the linear trend component is extracted from the calibration deviation sequence as the drift rate. The drift rate warning threshold is set according to the terminal quality level - 0.3 ppm per year for high-reliability terminals and 1 ppm per year for ordinary terminals. Once the drift rate exceeds the threshold, the generated information is not a simple "unqualified" label, but a warning message that includes the drift direction, recommended key components, and the estimated remaining safe operating time, so that maintenance work changes from passive reaction to proactive prevention.

[0046] Furthermore, according to an embodiment of the present invention, before constructing the multi-scenario simulation environment, a test intent-driven dynamic scene orchestration step is also included: Receive test intent description information, which includes test target type and test priority order; The test intent description information is parsed into multiple atomic test requirements; In the preset scenario model library and interference model library, retrieve the scenario model and interference model that match each of the atomic test requirements; According to the test priority, the retrieved scene models and interference models are dynamically assembled into a customized test sequence; The customized test sequence is used as the input configuration for the multi-scenario simulation environment.

[0047] It should be noted that existing navigation terminal testing systems typically employ fixed testing procedures, executing the same test sequence regardless of the application scenario of the terminal under test. This results in a large amount of redundant testing and wasted time in cross-border navigation scenarios. In actual engineering, the usage scenarios of cross-border navigation terminals vary greatly. Some mainly operate in the intersection area of ​​the BeiDou and GPS dual constellations, while others need to frequently cross the GLONASS and BeiDou switching zone along the Sino-Russian border. This embodiment introduces an intent-driven approach. Users only need to input the test target type and priority, and the system can automatically retrieve and assemble customized sequences from the scenario model library and interference model library. The scenario model library is indexed by geographical region, constellation combination, and signal system, while the interference model library is indexed by interference type, interference intensity, and bandwidth. The matching algorithm uses weighted vector similarity, and the measured retrieval accuracy can reach over 95%. Based on the content of this embodiment, differentiated test sequences can be automatically generated for different test intents, which improves testing efficiency and ensures the relevance of the test.

[0048] Furthermore, according to an embodiment of the present invention, the method further includes a simulation model self-calibration step: Obtain the positioning deviation data and signal quality deviation data from the execution results of the integrated testing process; The positioning deviation data and signal quality deviation data are used as feedback signals and input back into the multi-scenario simulation environment. The multi-scenario simulation environment adjusts the signal propagation model parameters and multipath effect model parameters in the simulation model according to the feedback signal; The integrated test process is executed iteratively until the positioning deviation data converges to below the preset self-calibration convergence threshold.

[0049] It should be noted that a prominent problem in simulation testing is the inherent error in the simulation model itself. The simplification of atmospheric delay in the signal propagation model and the deviation of the multipath model from the reflector assumption can lead to systematic deviations between the simulated and real signals. Traditionally, the simulation model is calibrated periodically using field measurement data, which is costly and time-consuming. In this application, however, the test results are used to calibrate the simulation model. The positioning and signal quality deviations exhibited by the tested terminal during testing are used as inverse evaluation indicators of the simulation model's accuracy. When the deviation exceeds expectations, it indicates that the simulation model parameters may deviate from reality. In this case, the ionospheric and tropospheric delay coefficients of the propagation model and the reflection coefficient and delay parameters of the multipath model are adjusted accordingly. The parameter adjustment range is generally limited to ±15% of the initial value to avoid overfitting. The iterative convergence threshold is typically set to a positioning deviation ≤0.5m in engineering. Through this closed-loop feedback, the simulation model can maintain high simulation accuracy without relying on field calibration.

[0050] Furthermore, according to an embodiment of the present invention, the integrated testing process further includes a resource-aware adaptive adjustment step: Real-time acquisition of available computing resource constraints and communication bandwidth constraints of the current test system; The available computing resource constraints and communication bandwidth constraints are input into a preset test strategy adaptation function to generate the current test configuration parameters, which include test data sampling density, signal simulation accuracy level, and test sequence concurrency. The execution method of the integrated testing process is dynamically adjusted based on the test configuration parameters.

[0051] It should be noted that cross-border navigation simulation testing involves the real-time generation of multi-constellation and multi-frequency signals and the parallel injection of interference signals, resulting in extremely high computational load and data throughput. Therefore, when the computing power of the test hardware platform is limited or the data link bandwidth is restricted, full-scale simulation may lead to interruption of simulation signals or loss of test data frames. This embodiment uses available computing resources and communication bandwidth as strategy selection parameters, rather than rigid constraints. Specifically, when the available computing power is less than 40% of the rated computing power, the simulation accuracy level is automatically reduced, the multipath model is downgraded from ray tracing to a statistical model, and the signal sampling density is reduced from 1kHz to 200Hz, but the evaluation accuracy of the core test indicators is not degraded. When the bandwidth is less than 1Mbps, the intermediate calculation results in the test data are compressed, and only the evaluation results and key deviation data are uploaded. In this way, the test can be completed smoothly even under resource-constrained conditions, and the validity of the results is guaranteed.

[0052] Furthermore, according to an embodiment of the present invention, the integrated testing process further includes a failure mode prediction step: Based on the historical test data of the navigation terminal under test and the fault statistics of similar terminals, a failure mode feature library is constructed. Each record in the failure mode feature library includes a failure mode identifier, a failure feature vector, and a failure triggering condition. During the execution of the integrated testing process, the current operating feature vector of the navigation terminal under test is extracted in real time; The current running feature vector is matched with each failure feature vector in the failure mode feature library based on similarity. When the similarity matching result exceeds the preset failure similarity threshold, it is determined that the navigation terminal under test has a corresponding potential failure risk, and preventive testing suggestions are generated.

[0053] It should be noted that many failures in navigation terminals are not sudden, but rather gradually degrade during use. For example, high-frequency gain attenuation in the RF front-end and aging drift of the crystal oscillator may not have triggered failure criteria in conventional testing, but they have already shown identifiable early patterns. Therefore, in this embodiment, a failure mode feature library was established, which includes feature vectors of typical failures such as gain attenuation mode, frequency drift mode, and phase-locked loop (PLL) lock-up precursor mode. The feature vectors are composed of dimensions such as carrier-to-noise ratio change rate, positioning residual distribution skewness, and pseudorange measurement noise standard deviation. Cosine similarity is used for similarity matching, and the failure similarity threshold is generally set to 0.75. This value is determined by optimizing the ROC curve from historical failure samples. When a match is successful, it is not a simple alarm, but rather a targeted preventive test suggestion is generated, such as suggesting a special test for gain flatness of the RF front-end or a retest for frequency stability of the crystal oscillator, so as to detect problems before the terminal officially fails.

[0054] Figure 7 The diagram shows a block diagram of a cross-border navigation anti-interference integrated test system based on multi-scenario simulation according to the present invention.

[0055] like Figure 7 As shown, this invention discloses an integrated cross-border navigation anti-interference test system based on multi-scenario simulation, including a memory and a processor. The memory includes a program for an integrated cross-border navigation anti-interference test method based on multi-scenario simulation. When the processor executes the program, the integrated cross-border navigation anti-interference test method based on multi-scenario simulation performs the following steps: Construct a multi-scenario simulation environment, which includes at least one cross-border navigation scenario model and at least one interference scenario model; Based on the multi-scenario simulation environment, a simulated navigation signal set and an interference signal set are generated. The simulated navigation signal set includes two navigation signals, and the interference signal set includes interference signals of at least two types. An integrated test process is executed based on the simulated navigation signal set and the interference signal set. The integrated test process integrates the calibration verification and anti-interference performance evaluation of the navigation terminal under test into a unified test sequence. Obtain the test execution results of the integrated testing process, and generate an integrated test evaluation report based on the test execution results.

[0056] It should be noted that when the cross-border navigation anti-interference integrated test system based on multi-scenario simulation disclosed in this invention is applied, the specific process corresponds to the cross-border navigation anti-interference integrated test method based on multi-scenario simulation described in the above embodiments. Since the specific implementation details of the system application are consistent with the content of the above-mentioned cross-border navigation anti-interference integrated test method based on multi-scenario simulation, no further details will be provided in this embodiment.

[0057] A third aspect of the present invention provides a computer-readable storage medium comprising a cross-border navigation anti-interference integrated test method program based on multi-scenario simulation. When the cross-border navigation anti-interference integrated test method program based on multi-scenario simulation is executed by a processor, it implements the steps of the cross-border navigation anti-interference integrated test method based on multi-scenario simulation as described in any of the preceding claims.

[0058] The fourth aspect of the present invention provides a computer program product comprising: computer program code, which, when executed on a computer, causes the computer to perform any of the methods described in the embodiments of the above-described integrated testing method for cross-border navigation anti-interference based on multi-scenario simulation.

[0059] The fifth aspect of the present invention provides an electronic device, the electronic device comprising: a processor and a memory; wherein the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the electronic device performs the steps of the integrated cross-border navigation anti-interference test method based on multi-scenario simulation as described in any of the preceding claims.

[0060] The terms “component,” “module,” “system,” etc., used in this specification are used to refer to computer-related entities, hardware, firmware, combinations of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program, and / or a computer. As illustrated, applications running on computing devices and computing devices can both be components. One or more components may reside in a process and / or an execution thread, and components may be located on a single computer and / or distributed among two or more computers. Furthermore, these components can be executed from various computer-readable media on which various data structures are stored. Components can communicate, for example, via local and / or remote processes based on signals having one or more data packets (e.g., data from two components interacting with another component between a local system, a distributed system, and / or a network, such as the Internet interacting with other systems via signals).

[0061] Those skilled in the art will recognize that the various illustrative logical blocks and steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0062] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0063] In the embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0064] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0065] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0066] In the above embodiments, the functions of each functional unit can be implemented entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. A computer program product includes one or more computer instructions (programs). When the computer program instructions (programs) are loaded and executed on a computer, all or part of the flow or function according to the embodiments of the present invention is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., high-density digital video discs (DVDs), or semiconductor media (e.g., solid-state disks (SSDs)).

[0067] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A cross-border navigation anti-interference integrated testing method based on multi-scenario simulation, characterized in that, Includes the following steps: Construct a multi-scenario simulation environment, which includes at least one cross-border navigation scenario model and at least one interference scenario model; Based on the multi-scenario simulation environment, a simulated navigation signal set and an interference signal set are generated. The simulated navigation signal set includes two navigation signals, and the interference signal set includes interference signals of at least two types. An integrated test process is executed based on the simulated navigation signal set and the interference signal set. The integrated test process integrates the calibration verification and anti-interference performance evaluation of the navigation terminal under test into a unified test sequence. Obtain the test execution results of the integrated testing process, and generate an integrated test evaluation report based on the test execution results.

2. The integrated testing method for cross-border navigation anti-interference based on multi-scenario simulation according to claim 1, characterized in that, The construction of the multi-scenario simulation environment specifically includes: The simulation maintains the time system, which converts Coordinated Universal Time (UTC) into atomic time, dynamic time, UTC, and constellation time by querying time conversion parameters, thereby completing the time control and synchronization of the simulation system. Satellite orbit operation simulation, which uses a pre-set joint algorithm to solve the satellite's perturbation motion equations in order to obtain real-time satellite orbit operation status data; Simulation of space environment effects, in which a pre-set joint model is used to simulate the effects of the ionosphere and troposphere on the propagation of navigation signals; Real-time simulation of user trajectory, which simulates the motion state information of stationary points, vehicles or aircraft by preset trajectory modes or reading external trajectory files in real time, and uses motion management scripts to control motion parameters. Antenna modeling and simulation involves dividing the grid according to the elevation and azimuth angles and setting the gain matrix. The signal amplitude modulation is calculated by looking up a table based on the angle of the satellite in the antenna coordinate system. The visible satellites are determined by combining the carrier attitude and the signal power is controlled. System integrity simulation, which generates satellite health information, ephemeris integrity information, device group delay, satellite clock bias and fault simulation information in real time based on initialization settings and simulation status, in order to generate navigation system integrity performance information; The perturbed satellite orbit simulation involves establishing the satellite's perturbed motion differential equations based on Earth's non-spherical gravity, third-body gravity, solar radiation pressure, and atmospheric drag, and solving for the perturbed orbit data.

3. The integrated testing method for cross-border navigation anti-interference based on multi-scenario simulation according to claim 1, characterized in that, The anti-interference performance is evaluated using an interference intensity-layered triggering mechanism, specifically including: Obtain the set core interference tolerance threshold ; Based on the core interference tolerance threshold and the context parameters of the current simulation scenario, calculate the first dynamic hierarchical threshold. Second dynamic grading threshold ; When the equivalent interference intensity of the interference signal set is lower than the first dynamic grading threshold At that time, execute the standard anti-interference test sub-process; When the equivalent interference intensity is within the first dynamic grading threshold With the second dynamic grading threshold During this period, an enhanced anti-interference test sub-process is executed, and the automatic recalibration of the navigation terminal under test is triggered. When the equivalent interference intensity is higher than the second dynamic grading threshold At that time, the extreme scenario anti-interference test sub-process is executed, and an interference alarm signal is generated.

4. The integrated testing method for cross-border navigation anti-interference based on multi-scenario simulation according to claim 1, characterized in that, The cross-border navigation scenario model includes at least: The signal system switching scenario simulates the transition process of the navigation terminal under test from the primary signal of the first GNSS constellation to the primary signal of the second GNSS constellation during cross-border operations. The transition process includes a signal search phase, a signal acquisition phase, and a signal tracking and reconstruction phase. The weak signal transition corridor scenario simulates the gradual process of signal strength attenuation from normal level to the lowest receptive level and then back to normal level in a cross-border area due to terrain obstruction and / or weak signal coverage. Multi-system signal overlap scenario: Simulates the signal superposition state when two or more navigation signal systems are simultaneously covered in a cross-border area and the signal strength changes alternately.

5. The integrated testing method for cross-border navigation anti-interference based on multi-scenario simulation according to claim 1, characterized in that, The integrated testing process employs a multimodal decision fusion approach for terminal calibration and verification, including: The receiving link performance of the navigation terminal under test is evaluated based on a set of signal quality indicators through the first decision path, and the first evaluation result and the first confidence level are output. The positioning performance of the navigation terminal under test is evaluated based on a set of positioning accuracy indicators through the second decision path, and a second evaluation result and a second confidence level are output. The interference suppression performance of the navigation terminal under test is evaluated based on the anti-interference response index set through the third decision path, and the third evaluation result and the third confidence level are output. Based on the first evaluation result, the second evaluation result, and the third evaluation result and their corresponding confidence levels, a fusion determination result is output through a preset fusion arbitrator, wherein the arbitration rules of the fusion arbitrator are as follows: When the evaluation results of at least two decision paths are consistent and the corresponding confidence levels both exceed the preset fusion decision confidence threshold, the consistent evaluation result is adopted. When the evaluation results of different decision paths are inconsistent, the evaluation result with the highest confidence level shall prevail. When the confidence level of all decision paths is lower than the preset fusion decision confidence level threshold, it is determined that no credible conclusion can be drawn in the current test scenario, and supplementary test suggestions are generated.

6. The integrated testing method for cross-border navigation anti-interference based on multi-scenario simulation according to claim 1, characterized in that, The integrated testing process also includes a cross-border differential benchmark station collaborative verification step, specifically including: Receive reference positioning data from at least one differential reference station in a cross-border area, the reference positioning data including the precise coordinates of the reference station, the signal quality parameters of each GNSS constellation observed by the reference station, and the atmospheric delay correction parameters of the reference station; The reference positioning data is used as the calibration true value, and differential comparison is performed during the calibration verification process of the navigation terminal under test to calculate the positioning deviation vector of the navigation terminal under test. When the magnitude of the positioning deviation vector exceeds the preset cross-border positioning tolerance threshold, the calibration status of the navigation terminal under test is determined to be unqualified, and a calibration correction suggestion is generated.

7. A cross-border navigation anti-interference integrated testing system based on multi-scenario simulation, characterized in that, The system includes a memory and a processor. The memory contains a program for an integrated cross-border navigation anti-interference test method based on multi-scenario simulation. When the processor executes the program, the program performs the following steps: Construct a multi-scenario simulation environment, which includes at least one cross-border navigation scenario model and at least one interference scenario model; Based on the multi-scenario simulation environment, a simulated navigation signal set and an interference signal set are generated. The simulated navigation signal set includes two navigation signals, and the interference signal set includes interference signals of at least two types. An integrated test process is executed based on the simulated navigation signal set and the interference signal set. The integrated test process integrates the calibration verification and anti-interference performance evaluation of the navigation terminal under test into a unified test sequence. Obtain the test execution results of the integrated testing process, and generate an integrated test evaluation report based on the test execution results.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a cross-border navigation anti-interference integrated test method program based on multi-scenario simulation. When the cross-border navigation anti-interference integrated test method program based on multi-scenario simulation is executed by a processor, it implements the steps of the cross-border navigation anti-interference integrated test method based on multi-scenario simulation as described in any one of claims 1 to 6.

9. A computer program product, characterized in that, The computer program product includes computer program code, which, when run on a computer, causes the computer to implement the steps of the integrated cross-border navigation anti-interference test method based on multi-scenario simulation as described in any one of claims 1 to 6.

10. An electronic device, characterized in that, The electronic device includes a processor and a memory; wherein the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to cause the electronic device to perform the steps of the integrated cross-border navigation anti-interference test method based on multi-scenario simulation as described in any one of claims 1 to 6.

Images