Beidou protection isolation system based on distributed control

Abstract

The application discloses a Beidou protection isolation system based on distributed control, which comprises a distributed monitoring and sensing device, a cooperative processing device, a fault analysis device, an isolation information generation device and an isolation protection information sending device. The distributed monitoring and sensing device is used for obtaining satellite signals collected by multiple monitoring points and satellite signal analysis data reported by at least three monitoring points among the multiple monitoring points. The cooperative processing device is used for constructing fault estimation information based on the satellite signals, the satellite signal analysis data and information of the corresponding monitoring points. The fault analysis device is used for determining fault information in the satellite signals based on the satellite signals, the fault estimation information and information of the monitoring points corresponding to the fault estimation information. The isolation information generation device is used for determining isolation information based on the fault information and information of the multiple monitoring points. The isolation protection information sending device is used for determining a target monitoring point receiving the isolation information among the multiple monitoring points and sending the isolation information to the target monitoring point.

Description

Technical Field

[0001] This application belongs to the field of satellite technology, and more specifically, it relates to a BeiDou protection and isolation system based on distributed control. Background Technology

[0002] With the continuous development of satellite navigation systems, satellite communication systems, and satellite augmentation and monitoring systems, higher demands are placed on the continuity, reliability, and accuracy of satellite signals. In satellite navigation systems, information transmission can be divided into space and ground segments. In the ground segment, monitoring points are set up to receive satellite navigation messages and broadcast them to user networks. These monitoring points provide the broadcast satellite navigation message data stream to specific users. How to utilize these monitoring points to improve the stability of satellite navigation message broadcasting is a direction that requires improvement in satellite technologies related to these monitoring points. Summary of the Invention

[0003] The purpose of this application is to provide a BeiDou protection and isolation system based on distributed control, which can actively isolate abnormal signals and improve the anti-interference capability of monitoring points.

[0004] In a first aspect, embodiments of this application provide a BeiDou protection and isolation system based on distributed control, comprising: A distributed monitoring and sensing device is used to obtain first satellite signals collected by multiple monitoring points, as well as first satellite signal analysis data reported by at least three of the multiple monitoring points; A preliminary isolation device is used to filter out first satellite signals with an anomaly level greater than a preset threshold based on satellite signals collected from the monitoring points and satellite signal analysis data, and to obtain second satellite signals and second satellite signal analysis data. A collaborative processing device is used to construct fault prediction information based on the second satellite signal, the second satellite signal analysis data, and the information of the corresponding monitoring point; A fault analysis device is used to determine fault information in the second satellite signal based on the second satellite signal, the fault prediction information, and information of monitoring points corresponding to the fault prediction information. An isolation information generation device is used to determine isolation information based on the fault information and the information from the multiple monitoring points; An isolation and protection information transmitting device is used to determine a target monitoring point for receiving isolation information among the multiple monitoring points, and to transmit the isolation information to the target monitoring point; An isolation device is used to isolate abnormal signals received by a target monitoring point based on the isolation information.

[0005] In a possible implementation, the isolation information generation device includes: The fault root cause determination module is used to determine the fault root cause type based on the fault information and the information of the monitoring point; An isolation calculation module is used to determine the isolation strategy and corresponding isolation parameters based on the fault root cause type. An isolation information module is used to determine the isolation information based on the isolation strategy and the isolation parameters.

[0006] In a possible implementation, the isolated computing module includes: The first calculation unit is configured to, when the fault root cause type is a malicious interference source, determine the information of the interference source based on the second satellite signal corresponding to the fault information, the signal arrival direction of the multiple monitoring points, and the signal arrival time difference of the multiple monitoring points; and determine the first isolation strategy and the corresponding first isolation parameters based on the information of the interference source. The second calculation unit is used to determine the second isolation strategy and the corresponding second isolation parameters based on the second satellite signal corresponding to the fault information when the fault root cause type is satellite signal anomaly. The third calculation unit is used to determine the third isolation strategy and the corresponding third isolation parameters based on the information of the monitoring point corresponding to the fault information and the fault information when the fault root cause type is ground anomaly.

[0007] In possible implementations, the first isolation parameter includes the coordinates of the malicious interference source, the direction of the malicious interference source, information on the interfered frequency point, and time window information; the first isolation strategy includes at least one of a filtering strategy, a beam nulling strategy, and an avoidance strategy; the second isolation parameter includes satellite parameters; the second isolation strategy includes a solution isolation strategy; the third isolation parameter includes information on the isolated monitoring point, isolation granularity, and isolation time; and the third isolation strategy includes a selective use strategy.

[0008] In a possible implementation, the isolation and protection information sending device includes: The target monitoring point determination module is used to determine the target monitoring point based on the isolation information and the information of the multiple monitoring points; The sending module is used to send the isolation information to the target monitoring point.

[0009] In a possible implementation, the isolation device includes: The first isolation module is used to remove abnormal signals from the second satellite signal received by the target monitoring point according to the first isolation parameter when the isolation strategy received by the target monitoring point is the first isolation strategy. The second isolation module is used to remove abnormal signals from the second satellite signal received by the target monitoring point during the calculation, based on the second isolation parameters, when the isolation strategy received by the target monitoring point is the second isolation strategy. The third isolation module is used to exclude abnormal signals received by the corresponding monitoring point based on the third isolation parameter when the isolation strategy received by the target monitoring point is the third isolation strategy.

[0010] In a possible implementation, the first isolation module includes: The filtering strategy unit is used to filter the signal corresponding to the first isolation parameter from the second satellite signal received by the target monitoring point; The beam nulling strategy unit is used to zero out the valid data of the signal corresponding to the first isolation parameter in the second satellite signal received by the target monitoring point. The avoidance strategy unit is used to control the target monitoring point to avoid receiving the signal corresponding to the first isolation parameter.

[0011] In a possible implementation, the second satellite signal analysis data includes fundamental measurements from the second satellite signal, and the collaborative processing device includes: An anomaly information determination module is used to determine anomaly information in the second satellite signal analysis data based on the second satellite signal and the corresponding second satellite signal analysis data. An anomaly model construction module is used to construct an anomaly model based on the anomaly information and the information of the monitoring points corresponding to the anomaly information; The fault prediction module is used to determine the fault prediction information based on the anomaly model and the second satellite signals from the multiple monitoring points.

[0012] In possible implementations, the basic measurement quantities include solution parameters, navigation message parameters, quality parameters, and derived parameters. The solution parameters are parameters used for position, velocity, and time calculations. The navigation message parameters are parameters obtained from the navigation message and used to assist in position, velocity, and time calculations. The quality parameters are parameters used to measure the quality of the second satellite signal. The anomaly model includes: a historical data verification model, a navigation message parameter correlation model, a spectral feature and statistical feature analysis model, or an anomaly signal spatiotemporal propagation model. The derived parameters are parameters determined by the monitoring point based on the second satellite signal. The anomaly model construction module includes: When the abnormal information includes solution parameters, a historical data verification model is constructed. The historical data verification model is used to verify the solution parameters obtained from multiple historical times of the monitoring points corresponding to the abnormal information, so as to determine whether the solution parameters are abnormal. When the abnormal information includes multiple navigation message parameters, a navigation message parameter correlation model is constructed. The navigation message parameter correlation model is used to verify the correlation of the multiple abnormal navigation message parameters in order to determine whether the navigation message is abnormal. When the abnormal information includes quality parameters, a spectral feature and statistical feature analysis model is constructed, which is used to determine the spectral features and statistical features of the quality parameters. When the abnormal information includes derived parameters, an abnormal signal spatiotemporal propagation model is constructed. The abnormal signal spatiotemporal propagation model is used to simulate the spatiotemporal propagation of the abnormal signal based on the derived parameters of the abnormality, so as to determine whether the propagation source signal of the derived parameters is an abnormal signal.

[0013] In a possible implementation, the fault prediction module includes: The correlation construction unit is used to construct the correlation between the monitoring points corresponding to the results based on the results output by the anomaly model; The correlation processing unit is used to determine the fault prediction information based on the correlation between the monitoring points and the results output by the anomaly model.

[0014] In a possible implementation, the fault analysis device includes: The fault event determination module is used to determine fault events based on the fault prediction information and the information of the monitoring points corresponding to the fault prediction information. The consistency determination module is used to determine the fault prediction information that is inconsistent with the fault event based on the information of the monitoring point corresponding to the fault prediction information and the information of the monitoring point associated with the monitoring point corresponding to the fault prediction information. The consistency analysis module is used to determine the fault information in the second satellite signal based on the fault event and the fault prediction information that is inconsistent with the fault event.

[0015] In a possible implementation, the fault event determination module includes: The aggregation unit is used to aggregate the fault prediction information according to the time dimension and the spatial dimension based on the information of the monitoring points corresponding to the fault prediction information, and obtain the aggregation result. An interference source unit is used to determine the interference source of the fault prediction information based on the aggregation result. The fault event unit is used to determine the fault event based on the interference source.

[0016] Secondly, embodiments of this application also provide a BeiDou protection and isolation system based on distributed control, which can implement the methods implemented by the systems in any embodiment of this application.

[0017] Thirdly, embodiments of this application also provide an electronic device, the electronic device comprising: a processor and a memory; the memory being used to store a program for the electronic device to execute the method provided in any embodiment of this application, and to store data involved in implementing the method provided in any embodiment of this application; the processor being configured to execute the program stored in the memory.

[0018] Fourthly, embodiments of this application also provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to execute the charging method of the electronic atomizer provided in any embodiment of this application.

[0019] The system provided in this application embodiment can utilize satellite signals received from multiple monitoring points to identify abnormal signals and determine fault information. Then, based on the fault information, an isolation scheme is generated, and isolation information is sent to multiple monitoring points (target monitoring points). This enables proactive monitoring of anomalies in satellite signals and proactive isolation by sending isolation information to target monitoring points based on the cause of the anomalies, thereby improving the security and reliability of satellite signal reception at monitoring points. In this embodiment, after receiving first satellite signals and first satellite signal analysis data from multiple monitoring points, data filtering is performed based on prior information of each monitoring point, the results of previous correct satellite signal filtering extrapolation, and the reasonable range of observations at each monitoring point. This results in comprehensive and more accurate second satellite signals and second satellite signal analysis data. The second satellite signals and second satellite signal analysis data are then used to verify and determine the reasonableness of the second satellite signals at each monitoring point. Based on independent anti-interference algorithms at each monitoring point, interference signal identification and anti-interference capabilities are enhanced. The advantage of this approach is that a single monitoring point device cannot know the correct message and reasonable observations. The system in this embodiment can obtain correct information through a wide range of data from multiple monitoring points, using voting mechanisms, prior information, extrapolation, and other methods, and then use this information for feedback and judgment. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of a system related to an embodiment of this application; Figure 2 This application provides a BeiDou-based protection and isolation system with distributed control as an embodiment. Figure 3 This is a schematic diagram illustrating the signal transmission and reception relationship between a BeiDou protection and isolation system based on distributed control, monitoring points, and satellites, as provided in an embodiment of this application. Detailed Implementation

[0022] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0023] Figure 1 This illustrates the relationship between the satellite, monitoring points, and other equipment. In the communication system, satellite 11 transmits signals to the ground. These signals include a fundamental signal, also known as a carrier wave. Based on the fundamental signal, the signals transmitted by satellite 11 may also include a ranging code and a navigation message, which can be modulated onto the fundamental signal and the ranging code. Furthermore, the signals transmitted by satellite 11 may also include pilot signals. In possible implementations, monitoring points 12 can receive navigation or communication signals from the same or multiple satellites 11. Signals transmitted by the same satellite 11 can also be received by multiple ground monitoring points 12. After receiving the satellite signals, each monitoring point 12 performs analog-to-digital conversion on the satellite signals and then generates digital raw signal observations. Different monitoring points 12 may obtain different raw signal observations. After obtaining the raw signal observations, each monitoring point 12 transmits them to downstream equipment. Downstream equipment of monitoring point 12 may include high-precision user equipment 13, a data collection and processing center 14, and relay and auxiliary equipment 15. The high-precision user equipment 13 utilizes the raw signal observations broadcast from monitoring point 12 for high-precision positioning, navigation, and other functions. The data collection and processing center 14 provides satellite data to specialized user equipment based on the raw signal observations. The relay and auxiliary equipment 15 provides satellite data to a dedicated network based on the raw signal observations.

[0024] based on Figure 1 The satellite communication system shown in this application provides a BeiDou protection and isolation system based on distributed control, referring to... Figure 2As shown, the system includes the following apparatus. It should be understood that, in the embodiments of this application, the satellite navigation message integrity diagnosis system based on multi-point joint measurement may include software devices, hardware devices, or a combination of software and hardware devices. The software device may include a chip for calling a program and a corresponding program, or the software device may include a computer program for implementing the device's functions.

[0025] A distributed monitoring and sensing device is used to obtain first satellite signals collected by multiple monitoring points, as well as first satellite signal analysis data reported by at least three of the multiple monitoring points.

[0026] In this embodiment, the monitoring point can directly receive the original satellite signal (i.e., the first satellite signal) transmitted by the satellite. The monitoring point can also analyze the received original satellite signal to obtain first satellite signal analysis data. The distributed monitoring and sensing device can be configured at each monitoring point or independently of all monitoring points. Among multiple monitoring points, some may have advanced data analysis capabilities, enabling them to analyze the original satellite signal, while other monitoring points may have simpler configurations and lack the function of analyzing the original satellite signal. The first satellite signal collected by the monitoring point can be a digitized satellite signal obtained by initially converting the original satellite signal. The first satellite signal analysis data may include the carrier-to-noise ratio / signal-to-noise ratio, multipath error, signal power, and spectrum of the original satellite signal. When the monitoring point provides satellite signal analysis data to the distributed monitoring and sensing device, the monitoring point can also simultaneously transmit the original satellite signal or the digitized satellite signal to the distributed monitoring and sensing device. In possible implementations, multiple monitoring points are distributed.

[0027] A preliminary isolation device is used to filter out first satellite signals with an anomaly level greater than a preset threshold based on satellite signals collected from the monitoring points and the satellite signal analysis data, thereby obtaining second satellite signals and second satellite signal analysis data. In possible implementations, the first satellite signal analysis data and the second satellite signal analysis data may include characteristics of the satellite signals.

[0028] In this embodiment, the preliminary isolation device can perform preliminary analysis and coarse screening of the first satellite signal. For satellite signals with obvious anomalies (i.e., the first satellite signal with an anomaly level greater than a preset threshold), the satellite signal can be directly filtered. The first satellite signal with an anomaly level greater than the preset threshold can refer to a signal whose difference from the theoretical signal is greater than the preset threshold. The theoretical signal can refer to the signal that should appear within a preset time under normal conditions. The first satellite signal with an anomaly level greater than the preset threshold may cause a significant jump in the signal's trend. The second satellite signal is the first satellite signal remaining after isolation by the preliminary isolation device, and the second satellite signal analysis data is the second satellite signal analysis data remaining after isolation by the preliminary isolation device.

[0029] The collaborative processing device is used to construct fault prediction information based on the second satellite signal, the second satellite signal analysis data, and the information of the corresponding monitoring point.

[0030] In possible implementations, the monitoring point information may include the monitoring point's identifier, location, and weather conditions in the area. Fault prediction information may include the collaborative processing device's analysis of anomalies in the second satellite signal and its data, combined with the corresponding monitoring point information, to pre-estimate the fault information, predict the possible types of faults, and identify the corresponding monitoring points.

[0031] A fault analysis device is used to determine fault information in the second satellite signal based on the second satellite signal, the fault prediction information, and information of monitoring points corresponding to the fault prediction information.

[0032] In a possible implementation, the fault analysis device receives the fault prediction information output by the collaborative processing device, and further combines the second satellite signal, the fault prediction information and the information of the monitoring point to determine whether the fault prediction information is valid. If the fault prediction information is valid, the fault prediction information is used as the fault information in the second satellite signal.

[0033] An isolation information generation device is used to determine isolation information based on the fault information and the information from the multiple monitoring points.

[0034] In possible implementations, isolation information is used to notify monitoring points of untrusted signals in the second satellite signal. Furthermore, the isolation information may include at least one of the following: information about the interfering signal to be isolated, information about the satellite to be isolated, and information about the monitoring point to be isolated. Based on the fault information, the isolation information generating device can determine whether the fault originates from a satellite, an interfering signal, or a monitoring point, and then generate corresponding isolation information, enabling the use of different strategies to achieve precise protection.

[0035] An isolation and protection information transmitting device is used to determine a target monitoring point for receiving isolation information among the multiple monitoring points, and to transmit the isolation information to the target monitoring point.

[0036] In possible implementations, the target monitoring point for receiving isolation information can be a monitoring point that may be affected by fault information. The isolation protection information transmitting device can determine at least one target monitoring point for receiving isolation information based on the fault information and the isolation information.

[0037] An isolation device is used to isolate abnormal signals received by a target monitoring point based on the isolation information.

[0038] In possible implementations, the isolation device can be installed at each monitoring point or independently of the monitoring points. The isolation device can filter or exclude abnormal signals corresponding to fault information, preventing the target monitoring point from receiving these abnormal signals. Abnormal signals can refer to abnormal signals within the satellite signal.

[0039] The system provided in this application embodiment can isolate satellite signals from multiple monitoring points and their corresponding satellite signal analysis data. Compared with isolated judgment using a single monitoring point, this represents a leap in the dimensionality of isolation. The system can analyze abnormal signals (abnormal information) from a global perspective and proactively defend against them. When monitoring and isolating abnormal signals using signals from a single monitoring point, the system cannot distinguish between attacks and malfunctions. An abnormal signal from a single monitoring point could be deception, interference, or caused by factors such as antenna obstruction or loose cables. A system using satellite signals from a single monitoring point cannot determine the type of anomaly. However, the system in this application embodiment analyzes abnormal signals based on distributed satellite signals from multiple monitoring points, enabling cross-verification across multiple monitoring points. For example, if only one monitoring point has an abnormal satellite signal while signals from multiple other monitoring points are normal, the cause of the abnormal signal can be determined to be a local equipment malfunction at that monitoring point. If multiple monitoring points have synchronized abnormal signals, the system can determine that the abnormal signal may be a real threat. Therefore, the system in this application embodiment significantly reduces the false alarm rate, gaining the trust of maintenance personnel. Meanwhile, systems that use signals from a single monitoring point for anomaly monitoring and isolation are highly susceptible to deception. If a forged signal is injected into a single monitoring point, the detection algorithm within that point may be bypassed by the forged signal (such as an advanced generative deception signal). However, the system provided in this application embodiment is difficult to deceive by forged or spoofed signals. The arrival time and phase variation patterns of forged or spoofed signals at different geographical locations do not conform to the physical laws of real satellite signals. By comparing satellite signals from multiple monitoring points, the system in this application embodiment can directly expose forged or spoofed signals, resisting even the most advanced deception attacks. Systems that use signals from a single monitoring point for anomaly monitoring and isolation cannot determine the threat range and are prone to over-isolation. A single-point system may resort to self-destructive isolation (e.g., shutting down the entire frequency band or restarting the monitoring point's equipment) to protect itself. The system provided in this application embodiment, however, can clearly identify the specific direction of the threat, thus forming zero-adjustment isolation only in that specific direction. Satellite signals from other directions can be received normally, maximizing service availability and meeting the requirements of high system availability. Systems that use signals from a single monitoring point for anomaly monitoring and isolation can only see the satellite signal of that monitoring point, and cannot determine the source and destination of the anomaly signal, or its potential impact. The system provided in this application embodiment can be upgraded from emergency response to early warning and prediction, realizing true proactive defense. Based on the signals from multiple distributed monitoring points, it can accurately identify and predict abnormal signals, thereby achieving more precise isolation.

[0040] In a possible implementation, the second satellite signal analysis data includes basic measurements in the second satellite signal, and the collaborative processing device includes the following modules. It should be understood that the modules in the embodiments of this application can be software modules, hardware modules, or a combination of software and hardware modules.

[0041] The anomaly information determination module is used to determine the anomaly information in the second satellite signal analysis data based on the second satellite signal and the corresponding second satellite signal analysis data.

[0042] An anomaly model construction module is used to construct an anomaly model based on the anomaly information and the information of the monitoring points corresponding to the anomaly information.

[0043] The fault prediction module is used to determine the fault prediction information based on the anomaly model and the second satellite signals from the multiple monitoring points.

[0044] In possible implementations, the anomaly detection module can compare continuous signal characteristics with a preset normal baseline signal to detect deviations, thereby identifying anomalies in the second satellite signal analysis data and / or anomalous signals in the second satellite signal. For second satellite signals for which second satellite signal analysis data is unavailable, the anomaly detection module can generate second satellite signal analysis data based on the second satellite signal, and then determine the presence of anomalies based on the generated data. For second satellite signals for which second satellite signal analysis data is available, the anomaly detection module can also verify the second satellite signal analysis data, and then determine the anomalies based on the verified data.

[0045] In possible implementations, the basic measurement quantities include solution parameters, navigation message parameters, quality parameters, and derived parameters. The solution parameters are parameters used for position, velocity, and time calculations. The navigation message parameters are parameters obtained from the navigation message and used to assist in the position, velocity, and time calculations. The quality parameters are parameters used to measure the quality of the second satellite signal. The anomaly model includes: a historical data verification model, a navigation message parameter correlation model, a spectral feature and statistical feature analysis model, or an anomaly signal spatiotemporal propagation model. The derived parameters are parameters determined by the monitoring point based on the second satellite signal. The anomaly model construction module includes the following units. It should be understood that in the embodiments of this application, the units can be software units, hardware units, or a combination of software and hardware units.

[0046] The first construction unit is used to construct a historical data verification model when the abnormal information includes solution parameters. The historical data verification model is used to verify the solution parameters obtained from multiple historical times of the monitoring points corresponding to the abnormal information in order to determine whether the solution parameters are abnormal.

[0047] The second construction unit is used to construct a navigation message parameter correlation model when the abnormal information includes multiple navigation message parameters. The navigation message parameter correlation model is used to verify the correlation of the multiple abnormal navigation message parameters to determine whether the navigation message is abnormal.

[0048] The third construction unit is used to construct a spectral feature and statistical feature analysis model when the abnormal information includes quality parameters. The spectral feature and statistical feature analysis model is used to determine the spectral features and statistical features of the quality parameters.

[0049] The fourth construction unit is used to construct an anomalous signal spatiotemporal propagation model when the anomalous information includes derived parameters. The anomalous signal spatiotemporal propagation model is used to simulate the spatiotemporal propagation of the anomalous signal based on the derived parameters of the anomalous signal, so as to determine whether the propagation source signal of the derived parameters is an anomalous signal.

[0050] In possible implementations, the anomaly model constructed by the anomaly model construction unit can be an intelligent analysis framework, function, or algorithm set capable of automatically identifying, classifying, and predicting anomaly patterns in satellite navigation signals. The anomaly model can be related to the type and content of the anomaly information, and the computational parameters used by the functions, analysis framework, or algorithm set in the anomaly model can be determined based on the content or numerical value of the anomaly information.

[0051] In a possible implementation, the fault prediction module includes the following units.

[0052] The correlation prediction unit is used to construct the correlation between the monitoring points corresponding to the results based on the results output by the anomaly model.

[0053] The correlation processing unit is used to determine the fault prediction information based on the correlation between the monitoring points and the results output by the anomaly model.

[0054] The correlation between monitoring points refers to the relationship constructed based on the inherent logical connection of anomalous events in the spatiotemporal dimension, used to describe the mutual influence or jointly controlled state between monitoring points. For example, the correlation between monitoring points can include spatial propagation relationships, co-source controlled relationships, logical synergy relationships, and causal influence relationships. Spatial propagation relationships indicate that anomalous information spreads from one monitoring point to another in physical space, with anomalous events at the two monitoring points being continuous in time and progressive in space, and the anomalous characteristics (such as interference spectra) being highly similar. Co-source controlled relationships indicate that multiple monitoring points simultaneously or nearly simultaneously report the same type of anomaly, and the anomalous characteristics are highly consistent (such as synchronized descent patterns or identical deception signal structures). Logical synergy relationships indicate that the anomalous events of multiple monitoring points are different in themselves, but they collectively serve a single attack target in a higher-dimensional tactical logic. For example, if one monitoring point performs suppression interference to create chaos, the other two monitoring points will subsequently suffer from carefully designed deception signals. Causal influence relationships indicate that an anomaly at one monitoring point directly causes or significantly increases the probability of anomalies occurring at another monitoring point. For example, if a monitoring point that serves as a critical time synchronization source fails, it can cause a systematic deviation in the data from another monitoring point that relies on it for time synchronization.

[0055] In a possible implementation, the fault analysis device includes the following modules.

[0056] The fault event determination module is used to determine fault events based on the fault prediction information and the information of the monitoring points corresponding to the fault prediction information.

[0057] The consistency determination module is used to determine the fault prediction information that is inconsistent with the fault event based on the information of the monitoring point corresponding to the fault prediction information and the information of the monitoring point associated with the monitoring point corresponding to the fault prediction information.

[0058] The consistency analysis module is used to determine the fault information in the second satellite signal based on the fault event and the fault prediction information that is inconsistent with the fault event.

[0059] In a possible implementation, the fault event determination module includes the following units.

[0060] The aggregation unit is used to aggregate the fault prediction information according to the time dimension and the spatial dimension based on the information of the monitoring points corresponding to the fault prediction information, and obtain the aggregation result. An interference source unit is used to determine the interference source of the fault prediction information based on the aggregation result. The fault event unit is used to determine the fault event based on the interference source.

[0061] In possible implementations, different clusters of monitoring points can be generated based on different fault prediction information. For example, if the fault prediction information indicates a satellite fault, clusters of monitoring points can be generated based on their relative positions to the satellite. If the fault prediction information indicates a fault at a monitoring point, clusters can be generated based on the signal transmission relationships between the monitoring points.

[0062] In a possible implementation, the isolation information generation device includes the following modules.

[0063] The fault root cause determination module is used to determine the fault root cause type based on the fault information and the information of the monitoring point.

[0064] The isolation calculation module is used to determine the isolation strategy and corresponding isolation parameters based on the fault root cause type.

[0065] An isolation information module is used to determine the isolation information based on the isolation strategy and the isolation parameters.

[0066] In possible implementations, the fault root cause determination module can match fault characteristics (such as suppression of signals at all frequencies) with a fault root cause characteristic database. For example, if fault information from multiple monitoring points all points to the same satellite, the fault root cause type could include: space segment (satellite) anomaly or uplink injection interference to that satellite. If the fault information includes: anomaly points are geographically distributed in a continuous area or strip, the fault root cause type is regional ground interference. If the fault information includes: anomaly points are randomly scattered, and each has abnormal equipment status, the fault root cause type may be a fault in the monitoring network's own equipment. If the fault information includes regional, full-band signal loss, the fault root cause type could include: external malicious suppression interference.

[0067] Within a BeiDou protection and isolation system based on distributed control, a knowledge base mapping fault root cause types to isolation strategies can be pre-set. The isolation calculation module can automatically match the most effective isolation strategy based on the fault root cause type determined by the fault root cause determination module. For example, if the fault root cause type is ground suppression interference, the isolation strategy may include: spatial spectrum anti-interference and frequency domain filtering. If the fault root cause type is satellite ephemeris spoofing, the isolation strategy may include: logically removing the satellite and enabling a backup signal source. If the isolation strategy includes spatial spectrum anti-interference, the isolation parameters may include: the azimuth and elevation angles of the interference source. If the isolation strategy includes logical removal, the isolation parameters may include: the parameters of the satellite to be isolated. If the isolation strategy includes service switching, the isolation parameters may include: the identifier of the designated backup signal source.

[0068] For example, isolation information may include at least one of a target device, an isolation action, and isolation parameters. The target device may include a monitoring point that receives the isolation information. The isolation action may correspond to an isolation policy and is used to indicate the implemented isolation policy.

[0069] In a possible implementation, the isolated computing module includes the following units.

[0070] The first calculation unit is configured to, when the fault root cause type is a malicious interference source, determine the information of the interference source based on the second satellite signal corresponding to the fault information, the signal arrival direction of the plurality of monitoring points, and the signal arrival time difference of the plurality of monitoring points; and determine the isolation strategy and the corresponding first isolation parameter based on the information of the interference source.

[0071] The second calculation unit is used to determine the second isolation parameter based on the second satellite signal corresponding to the fault information when the fault root cause type is satellite signal anomaly.

[0072] The third calculation unit is used to determine the third isolation parameter based on the information of the monitoring point corresponding to the fault information and the fault information when the fault root cause type is ground anomaly.

[0073] In a possible implementation, the first computing unit can use the signal arrival time difference of at least three monitoring stations and calculate the precise two-dimensional geographic coordinates of the interference source through the geometric principle of hyperbola intersection. Then, based on the signal arrival direction of the monitoring point, the precise two-dimensional geographic coordinates of the interference source are verified. If the verification is successful, the coordinates of the malicious interference source, the direction of the malicious interference source, the information of the interfered frequency point, and the time window information are determined according to the second satellite signal corresponding to the fault information and the precise two-dimensional geographic coordinates of the interference source.

[0074] The second calculation unit can verify anomalies based on the second satellite signals received from multiple monitoring points. If the verification passes, the second calculation unit uses the satellite parameters as the second isolation parameters. The third calculation unit can determine the fault type of the monitoring point based on the information of the monitoring point corresponding to the fault information, and then determine a selective usage strategy for the monitoring point based on the fault type and the weight information of the monitoring point in the system. The fault type of the monitoring point can include at least one of the following: hardware failure, software crash, power supply problem, and localized physical attack.

[0075] In possible implementations, the first isolation parameters include the coordinates of the malicious interference source, the direction of the malicious interference source, information on the interfered frequency point, and time window information; the first isolation strategy includes at least one of a filtering strategy, a beam nulling strategy, and an avoidance strategy; the second isolation parameters include satellite parameters, and the second isolation strategy includes a solution isolation strategy; the third isolation parameters include information on the isolated monitoring point, isolation granularity, and isolation time, and the third isolation strategy includes a selective use strategy. In possible implementations, the selective use strategy may include weight changes or switching.

[0076] In a possible implementation, the isolation and protection information sending device includes the following modules.

[0077] The target monitoring point determination module is used to determine the target monitoring point based on the isolation information and the information of the multiple monitoring points.

[0078] The sending module is used to send the isolation information to the target monitoring point.

[0079] In one possible implementation, the target monitoring point determination module can determine the scope of influence of the fault information based on the isolation information, and then determine the target monitoring point corresponding to the scope of influence among multiple monitoring points.

[0080] In a possible implementation, the isolation device includes the following modules.

[0081] The first isolation module is used to remove abnormal signals from the second satellite signal received by the target monitoring point according to the first isolation parameter, when the isolation strategy received by the target monitoring point is the first isolation strategy.

[0082] The second isolation module is used to remove abnormal signals from the second satellite signal received by the target monitoring point during the calculation, based on the second isolation parameters, when the isolation strategy received by the target monitoring point is the second isolation strategy.

[0083] The third isolation module is used to exclude abnormal signals received by the corresponding monitoring point based on the third isolation parameter when the isolation strategy received by the target monitoring point is the third isolation strategy.

[0084] In possible implementations, the isolation device can implement isolation based on different isolation strategies and parameters to ensure the safety and reliability of the signal.

[0085] In a possible implementation, the first isolation module includes the following units.

[0086] The filtering strategy unit is used to filter the signal corresponding to the first isolation parameter from the second satellite signal received by the target monitoring point.

[0087] The beam nulling strategy unit is used to zero out the valid data of the signal corresponding to the first isolation parameter in the second satellite signal received by the target monitoring point.

[0088] The avoidance strategy unit is used to control the target monitoring point to avoid receiving the signal corresponding to the first isolation parameter.

[0089] In a possible implementation, the second isolation module may include the following units.

[0090] The isolation determination unit identifies the markers or frequencies of monitoring points that need to be removed. The discard unit directly discards the raw observations from these satellites or frequencies when generating the observation data file. The calculation unit performs calculations based on the second satellite signals remaining after the discarding unit.

[0091] In a possible implementation, the third isolation module may include the following units.

[0092] The parameter parsing unit is used to parse commands from the fusion center and identify the identifiers of monitoring points that need to be excluded. The data source isolation unit is used in data fusion, integrity calculation, or location resolution processes to completely ignore any data packets from the monitoring points corresponding to the identifiers. The reconstruction unit is used to recalculate based on the remaining set of normal monitoring points.

[0093] In this embodiment of the application, some devices in the BeiDou protection and isolation system based on distributed control can be set up at monitoring points, or can correspond to each monitoring point, to acquire and collect the second satellite signals received by the monitoring points, as shown in the following example. Figure 3 As shown, the BeiDou protection and isolation system based on distributed control can be partially set up at each monitoring point 12, or it can be completely independent of each monitoring point and able to receive signals from the monitoring points and send signals to each monitoring point 12. After performing integrity analysis on the signals from each monitoring point, feedback can be sent to the corresponding monitoring point based on the analysis results, so that the monitoring point actively filters unreliable signals, or temporarily replaces unreliable monitoring points with other monitoring points, stopping the output of satellite signals to downstream equipment.

[0094] In a possible implementation, this application embodiment also provides a BeiDou protection and isolation method based on distributed control. This method can be implemented by a computer program and may include the steps implemented by each device in the BeiDou protection and isolation system based on distributed control provided in this application embodiment.

[0095] This application also provides an electronic device, which includes a processor and a memory; the memory is used to store a program for the electronic device to execute the method provided in any embodiment of this application, and to store data involved in implementing the method provided in any embodiment of this application; the processor is configured to execute the program stored in the memory.

[0096] The embodiments of the present invention described above are combinations of elements and features of the invention. Unless otherwise stated, elements or features may be considered optional. Individual elements or features may be practiced without combination with other elements or features. Furthermore, embodiments of the invention may be constructed by combining some elements and / or features. The order of operations described in the embodiments of the invention may be rearranged. Some constructions of any embodiment may be included in another embodiment and may be replaced by corresponding constructions of another embodiment. It will be apparent to those skilled in the art that claims that are not explicitly referenced in the appended claims may be combined to form embodiments of the invention, or may be included as new claims in modifications made after the submission of this invention.

[0097] In firmware or software configuration, embodiments of the present invention can be implemented in the form of modules, processes, functions, etc. Software code can be stored in memory units and executed by a processor. The memory units are located inside or outside the processor and can send data to and receive data from the processor via various known means.

[0098] The various aspects of the systems and methods described in this paper can be implemented as functions programmable into any type of circuit, including programmable logic devices (PLDs), such as field-programmable gate arrays (FPGAs), programmable array logic (PAL) devices, electronically programmable logic and memory devices, standard cell-based devices, and application-specific integrated circuits (ASICs). Other possibilities for implementing these aspects of the system include: microcontrollers with memory, such as electronically erasable programmable read-only memory (EEPROM), embedded microprocessors, firmware, software, etc. Furthermore, these aspects of the system can be embodied in microprocessors with software-based circuit emulation, discrete logic (sequential and combinational), custom devices, fuzzy (neural) logic, quantum devices, and any combination of the various device types mentioned above. Of course, underlying device technologies can be provided in various component types, such as metal-oxide-semiconductor field-effect transistor (MOSFET) technologies such as complementary metal-oxide-semiconductor (CMOS), bipolar technologies such as emitter-coupled logic (ECL), polymer technologies (e.g., silicon conjugated polymers and metal conjugated polymer metal structures), hybrid analog and digital, etc.

[0099] The various functions or processes disclosed herein can be described, based on their behavior, register transfers, logic components, transistors, geometric layouts, and / or other characteristics, as data and / or instructions embodied in various computer-readable media. Computer-readable media that may contain such formatted data and / or instructions include, but are not limited to, various forms of non-volatile storage media (e.g., optical, magnetic, or semiconductor storage media) and carrier waves, which can be used to transmit such formatted data and / or instructions via wireless, optical, or wired signal media, or any combination thereof. Such data and / or instructions can be processed by a processing entity (e.g., one or more processors) upon receipt by any of various circuits (e.g., a computer).

[0100] The above description of the illustrated embodiments of the systems and methods is not intended to be exhaustive or to limit the systems and methods to the precise forms disclosed. While specific embodiments and examples of system components and methods have been described herein for illustrative purposes, those skilled in the art will understand that various equivalent modifications can be made within the scope of the systems, components, and methods. The teachings of the systems and methods provided herein can be applied to other processing systems and methods, and are not limited to those described above.

[0101] Those skilled in the art will understand that various changes and / or modifications can be made to the invention illustrated in particular embodiments without departing from the spirit or scope of the broad description of the invention. Therefore, these embodiments are to be considered illustrative rather than restrictive in all respects. Furthermore, the invention includes any combination of features described with respect to different embodiments (including those in the abstract section), even if such feature or combination of features is not expressly specified in the claims or the detailed description of these embodiments.

[0102] Generally, the terminology used in the following claims should not be construed as limiting the systems and methods to the specific embodiments disclosed in the specification and claims, but should be interpreted as encompassing all processing systems operating under the claims. Therefore, the systems and methods are not limited by this disclosure, but their scope is determined entirely by the claims.

[0103] Unless the context explicitly requires otherwise, throughout the specification and claims, the words “comprising,” “including,” and “containing” should be interpreted in a comprehensive sense, not in an exclusive or exhaustive sense; that is, in the sense of “including but not limited to.” The use of singular or plural words also includes both singular and plural, respectively. Furthermore, “this article,” “in the following,” “above,” “below,” and words with similar meanings refer to the application as a whole, and not to any particular part of the application. When the word “or” is used to refer to a list of two or more items, the word “or” includes all of the following interpretations: any item in the list, all items in the list, and any combination of items in the list.

[0104] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0105] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A BeiDou-based protection and isolation system with distributed control, characterized in that, include: A distributed monitoring and sensing device is used to obtain first satellite signals collected by multiple monitoring points, as well as first satellite signal analysis data reported by at least three of the multiple monitoring points; A preliminary isolation device is used to filter out first satellite signals with an anomaly level greater than a preset threshold based on satellite signals collected from the monitoring points and satellite signal analysis data, and to obtain second satellite signals and second satellite signal analysis data. A collaborative processing device is used to construct fault prediction information based on the second satellite signal, the second satellite signal analysis data, and the information of the corresponding monitoring point; A fault analysis device is used to determine fault information in the second satellite signal based on the second satellite signal, the fault prediction information, and information of monitoring points corresponding to the fault prediction information. An isolation information generation device is used to determine isolation information based on the fault information and the information from the multiple monitoring points; An isolation and protection information transmitting device is used to determine a target monitoring point for receiving isolation information among the multiple monitoring points, and to transmit the isolation information to the target monitoring point; An isolation device is used to isolate abnormal signals received by a target monitoring point based on the isolation information.

2. The BeiDou protection and isolation system based on distributed control according to claim 1, characterized in that, The isolation information generation device includes: The fault root cause determination module is used to determine the fault root cause type based on the fault information and the information of the monitoring point; An isolation calculation module is used to determine the isolation strategy and corresponding isolation parameters based on the fault root cause type. An isolation information module is used to determine the isolation information based on the isolation strategy and the isolation parameters.

3. The BeiDou protection and isolation system based on distributed control according to claim 2, characterized in that, The isolated computing module includes: The first calculation unit is configured to, when the fault root cause type is a malicious interference source, determine the information of the interference source based on the second satellite signal corresponding to the fault information, the signal arrival direction of the multiple monitoring points, and the signal arrival time difference of the multiple monitoring points; and determine the first isolation strategy and the corresponding first isolation parameters based on the information of the interference source. The second calculation unit is used to determine the second isolation strategy and the corresponding second isolation parameters based on the second satellite signal corresponding to the fault information when the fault root cause type is satellite signal anomaly. The third calculation unit is used to determine the third isolation strategy and the corresponding third isolation parameters based on the information of the monitoring point corresponding to the fault information and the fault information when the fault root cause type is ground anomaly.

4. The BeiDou protection and isolation system based on distributed control according to claim 3, characterized in that, The first isolation parameters include the coordinates of the malicious interference source, the direction of the malicious interference source, the information of the interfered frequency point, and the time window information. The first isolation strategy includes at least one of the filtering strategy, the beam nulling strategy, and the avoidance strategy. The second isolation parameters include satellite parameters. The second isolation strategy includes a solution isolation strategy. The third isolation parameters include the information of the isolated monitoring point, the isolation granularity, and the isolation time. The third isolation strategy includes a selective use strategy.

5. The BeiDou protection and isolation system based on distributed control according to claim 1, characterized in that, The isolation and protection information transmission device includes: The target monitoring point determination module is used to determine the target monitoring point based on the isolation information and the information of the multiple monitoring points; The sending module is used to send the isolation information to the target monitoring point.

6. The BeiDou protection and isolation system based on distributed control according to claim 3, characterized in that, The isolation device includes: The first isolation module is used to remove abnormal signals from the second satellite signal received by the target monitoring point according to the first isolation parameter when the isolation strategy received by the target monitoring point is the first isolation strategy. The second isolation module is used to remove abnormal signals from the second satellite signal received by the target monitoring point during the calculation, based on the second isolation parameters, when the isolation strategy received by the target monitoring point is the second isolation strategy. The third isolation module is used to exclude abnormal signals received by the corresponding monitoring point based on the third isolation parameter when the isolation strategy received by the target monitoring point is the third isolation strategy.

7. The BeiDou protection and isolation system based on distributed control according to claim 6, characterized in that, The first isolation module includes: The filtering strategy unit is used to filter the signal corresponding to the first isolation parameter from the second satellite signal received by the target monitoring point; The beam nulling strategy unit is used to zero out the valid data of the signal corresponding to the first isolation parameter in the second satellite signal received by the target monitoring point. The avoidance strategy unit is used to control the target monitoring point to avoid receiving the signal corresponding to the first isolation parameter.

8. The BeiDou protection and isolation system based on distributed control according to claim 1, characterized in that, The satellite signal analysis data includes basic measurements from the second satellite signal, and the collaborative processing device includes: An anomaly information determination module is used to determine anomaly information in the second satellite signal analysis data based on the second satellite signal and the corresponding second satellite signal analysis data. An anomaly model construction module is used to construct an anomaly model based on the anomaly information and the information of the monitoring points corresponding to the anomaly information; The fault prediction module is used to determine the fault prediction information based on the anomaly model and the second satellite signals from the multiple monitoring points.

9. The BeiDou protection and isolation system based on distributed control according to claim 8, characterized in that, The basic measurement quantities include solution parameters, navigation message parameters, quality parameters, and derived parameters. The solution parameters are used for position, velocity, and time calculations. The navigation message parameters are obtained from the navigation message and used to assist in position, velocity, and time calculations. The quality parameters are used to measure the quality of the second satellite signal. The anomaly model includes: a historical data verification model, a navigation message parameter correlation model, a spectral feature and statistical feature analysis model, or an anomaly signal spatiotemporal propagation model. The derived parameters are parameters determined by the monitoring point based on the second satellite signal. The anomaly model construction module includes: The first construction unit is used to construct a historical data verification model when the abnormal information includes solution parameters. The historical data verification model is used to verify the solution parameters obtained from multiple historical times of the monitoring point corresponding to the abnormal information in order to determine whether the solution parameters are abnormal. The second construction unit is used to construct a navigation message parameter correlation model when the abnormal information includes multiple navigation message parameters. The navigation message parameter correlation model is used to verify the correlation of the multiple abnormal navigation message parameters to determine whether the navigation message is abnormal. The third construction unit is used to construct a spectral feature and statistical feature analysis model when the abnormal information includes quality parameters. The spectral feature and statistical feature analysis model is used to determine the spectral features and statistical features of the quality parameters. The fourth construction unit is used to construct an anomalous signal spatiotemporal propagation model when the anomalous information includes derived parameters. The anomalous signal spatiotemporal propagation model is used to simulate the spatiotemporal propagation of the anomalous signal based on the derived parameters of the anomalous signal, so as to determine whether the propagation source signal of the derived parameters is an anomalous signal.

10. An electronic device, characterized in that, The electronic device includes: a processor and a memory; The memory is used to store a program for the electronic device to execute the method as described in any one of claims 1-9, and to store data related to implementing the method as described in any one of claims 1-9; The processor is configured to execute programs stored in the memory.

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