The invention provides a
factor graph optimization
train positioning method for resisting
satellite navigation spoofing attacks. The method comprises the following steps: determining a
factor graph model with deception mitigation capability and related parameters; when the information frame of the speed and distance measuring sensor is received, calculating the pre-integration position of the speed and distance measuring sensor; determining a nearest
orbit slice in the
orbit information, sensing a deception event and identifying a deception
satellite in the visual satellites; constructing a self-adaptive pseudo-range factor of a real / deception
satellite, a pre-integration factor of a speed and distance measuring sensor and a combined optimization
factor graph, and solving a positioning solution of the
train; and calculating a pseudo-range residual error according to the positioning solution, compensating the residual error of the deception satellite, updating a residual error
pool, fitting residual error distribution of each visual satellite in the residual error
pool, calculating an adaptive weight, and continuing iteration to obtain an optimal positioning solution of the
train. According to the method, deception
attack detection, identification and mitigation are realized based on a factor
graph optimization framework, the real operation state of the train before
attack is recovered, and the deception defense capability is enhanced.