阅读说明：本技术 导航欺骗干扰源的定位方法及系统 (Positioning method and system of navigation deception jamming source ) 是由 刘志俭 明德祥 钟小鹏 乔纯捷 于 2021-03-30 设计创作，主要内容包括：本发明涉及卫星导航领域,具体提供一种导航欺骗干扰源的定位方法及系统。通过至少两个时间同步的测量装置,在不同的位置接收并处理欺骗干扰信号,输出导航欺骗信号中包含卫星的伪距信息。针对导航欺骗干扰源中的同一颗卫星,以某一个测量装置作为参考装置,其它测量装置测量的伪距值与参考装置测量的伪距值相减,得到伪距距离差。以导航欺骗干扰源为未知量,基于距离差和已知测量装置的位置建立方程组,得到导航欺骗干扰源的位置。本发明通过多个时间同步的测量装置,可快速确定静态或动态的微弱的导航欺骗干扰源的位置。(The invention relates to the field of satellite navigation, and particularly provides a positioning method and a positioning system for a navigation deception jamming source. And receiving and processing deception jamming signals at different positions through at least two measuring devices synchronized in time, and outputting pseudo range information of the navigation deception signals including satellites. And for the same satellite in the navigation deception jamming source, taking a certain measuring device as a reference device, and subtracting pseudo-range values measured by other measuring devices from the pseudo-range values measured by the reference device to obtain a pseudo-range distance difference. And establishing an equation set by taking the navigation deception jamming source as an unknown quantity based on the distance difference and the position of the known measuring device to obtain the position of the navigation deception jamming source. The invention can quickly determine the position of a static or dynamic weak navigation deception jamming source through a plurality of measuring devices with synchronous time.)

1. A positioning method of a navigation deception jamming source is characterized by comprising the following steps:

S1.the measuring devices in time synchronization receive navigation deception jamming signals at different positions, wherein N is not less than 2;

s2, the measuring device processes the navigation deception signal and outputs pseudo range information of at least one satellite contained in the navigation deception signal, and the pseudo range information is recorded asWhereinThe number is assigned to the measuring device,numbering satellites in the navigation spoofing signal,，the number of satellites contained in the navigation deception signal is larger than or equal to 1;

s3, arbitrarily choose the secondUsing the measuring device as a reference measuring device, calculating the non-reference measuring device and the reference measuring deviceRange difference of pseudo range of number satelliteWhereinAnd is；

And S4, establishing an equation system based on the distance difference and the position of the known measuring device by taking the position of the navigation deception jamming source as an unknown quantity, and obtaining the position of the navigation deception jamming source.

2. The method of locating a navigation spoofing interfering source of claim 1 wherein, in step S1, the time synchronization further comprises frequency synchronization.

3. The method of locating a navigation spoofing interfering source as recited in claim 1, wherein said time synchronization comprises time synchronization with a GNSS system in step S1.

4. The method of claim 1, wherein in step S3, the navigation fraud signal includes a location of the navigation fraud jamming sourceA satellite signal, whereinTo the secondA non-reference measuring device and the reference measuring device respectively output toCalculating the difference of pseudo range of the satelliteA distance difference, calculatingMean value of individual distance differenceWhereinAnd is。

5. The method for positioning the navigation deception jamming source according to any one of claims 1 to 4, wherein when N =2, the position of the navigation deception jamming source is determined on a curved surface of a three-dimensional space; when N =3, the position of the navigation spoofing interference source is determined on a curve; when N ≧ 4, the position of the navigation deception jamming source is determined at a point position within two.

6. The method according to any one of claims 1 to 4, wherein if N <4, the navigation spoofing interference signal is measured at different positions by moving a non-reference measuring device to obtain a plurality of pseudoranges, the range difference between the pseudorange output by the non-reference measuring device and the pseudorange output by the reference measuring device is calculated, and the position of the navigation spoofing interference source is obtained through the step S4.

7. A positioning system for navigation deception jamming source is characterized by comprising a time synchronization unit, a processing unit and a positioning device distributed at different positionsThe measuring device is used for measuring the navigation deception jamming signal, wherein N is ≧ 2; of said different positionsThe measuring device receives and measures the navigation deception jamming signal based on the time synchronization unit and outputs pseudo range information of at least one satellite contained in the navigation deception jamming signal; the processing unit passes throughAnd calculating the position of the navigation deception jamming source according to the pseudo-range information.

8. The positioning system of claim 7, wherein the time synchronization unit is based on its own frequency reference or synchronizes GNSS system time frequency.

9. The positioning system of claim 7, wherein the different positions comprise equidistant positions or non-equidistant positions; the measuring device is in wired or wireless connection with the time unit and the processing unit; further, the measuring device comprises a time synchronization unit; or one of the measuring devices is a measuring device comprising a time synchronization unit, and the other measuring devices are connected with the measuring device comprising the time unit.

10. The positioning system of claim 7, wherein the time-frequency transmission of the time synchronization unit to each measurement device is in a star, daisy chain topology or a distributed configuration.

Technical Field

The invention relates to the field of satellite navigation, in particular to a positioning method and a positioning system for a navigation deception jamming source.

Background

The satellite navigation deception jamming source is a low-power satellite navigation jamming device, the transmitting power of the satellite navigation deception jamming source is only milliwatt level, after the satellite navigation deception jamming source is spread in a certain distance space, the deception signal power is even lower than the environmental noise, but still higher than a real satellite navigation signal, and the satellite navigation jamming source can jam the satellite navigation device in use, so that the satellite navigation device outputs wrong position and time, and therefore, greater potential safety hazards are brought.

Existing spoofing interference source locating technologies mainly include angle of arrival (AOA), Received Signal Strength (RSS), time difference of arrival (TDOA), frequency difference of arrival (FDOA), etc., but these technologies mainly suppress interference for high power, and spoofing interference is low in power, these technologies cannot locate spoofing interference sources, for example, a conventional radio directional locating device may find abnormal signals significantly higher than a noise floor through a method of spectral analysis, and for a micropower navigation spoofing interference signal, when the radio directional locating device is at a certain distance from an interference source, the power of the spoofing interference signal is only slightly higher than the noise floor, even lower than the noise floor, so that the conventional radio detection device cannot locate the interference source; meanwhile, the existing navigation countermeasure technology mainly aims at identifying and eliminating the navigation deception signal and cannot effectively position the interference source. Therefore, a method for locating a navigation spoofing interference source is urgently needed.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a method and a system for positioning a navigation deception jamming source, which are simple and efficient to operate, wherein a navigation deception signal source can be positioned by at least two measuring devices with synchronous time, and the following technical scheme is specifically adopted:

a method of locating a source of navigational spoofing interference, comprising:

S1.the measuring devices in time synchronization receive navigation deception jamming signals at different positions, wherein N is not less than 2;

s2, the measuring device processes the navigation deception signal and outputs pseudo-range information of the measuring device to the satellite, and the pseudo-range information is recorded asWhereinThe number is assigned to the measuring device,numbering satellites in the navigation spoofing signal,，the number of satellites contained in the navigation deception signal is M ≧ 1;

s3, arbitrarily choose the secondUsing the measuring device as a reference measuring device, calculating the non-reference measuring device and the reference measuring deviceRange difference of pseudo range of number satelliteWhereinAnd is；

And S4, establishing an equation system based on the distance difference and the position of the known measuring device by taking the position of the navigation deception jamming source as an unknown quantity, and obtaining the position of the navigation deception jamming source.

Further, in step S1, the time synchronization further includes frequency synchronization.

Further, in step S1, the time synchronization includes time synchronization with the GNSS system.

Further, in step S3, when the navigation spoofing signal includes the navigation spoofing signalFor the first satellite signalA non-reference measuring device and the reference measuring device respectively output toCalculating the difference of pseudo range of the satelliteA distance difference, calculatingMean value of individual distance differenceWhereinAnd is。

Further, when N =2, the position of the navigation spoofing interference source is determined on a curved surface of a three-dimensional space; when N =3, the position of the navigation spoofing interference source is determined on a curve; when N ≧ 4, the position of the navigation deception jamming source is determined at a point position within two.

Further, if N <4, a plurality of pseudo ranges are obtained by measuring at different point positions through the mobile non-reference measuring device, and the navigation deception jamming source is positioned based on a plurality of distance differences obtained by the pseudo ranges output by the reference measuring device.

The invention further provides a positioning system of a navigation deception jamming source, which comprises a time synchronization unit, N measuring devices for measuring N different positions of navigation deception jamming signals, and a processing unit, wherein N is not less than 2; the above-mentionedThe measuring devices at different positions receive the navigation deception jamming signals based on the time synchronization unit and output pseudo range information of at least one satellite contained in the navigation deception jamming signals; the processing unit collectsAnd processing the obtained pseudo range information by the measuring device, and calculating to obtain the position of the navigation deception jamming source.

Further, the time synchronization unit is based on its own frequency reference or synchronizes the GNSS system time frequency.

Further, the different positions include equidistant positions or non-equidistant positions; the measuring device is connected with the processing unit in a wired or wireless mode.

Further, the time frequency transmission from the time synchronization unit to each measuring device adopts a star-shaped, daisy chain topology structure or a distributed structure.

Compared with the prior art, the invention has the advantages and positive effects that:

1. positioning weak navigation spoofing interference signals: the invention provides a method for positioning a deception jamming source of navigation by utilizing more than two positioning devices based on reference frequency synchronization to perform pseudo-range measurement on the same deception jamming signal of navigation at different measurement positions, and realizes the positioning of the deception jamming source of navigation by calculating pseudo-range difference and the measurement positions, wherein the deception jamming source can be quickly and effectively positioned no matter a generating deception jamming source or a forwarding deception jamming source, and compared with the technologies of an arrival angle (AOA), Received Signal Strength (RSS), arrival Time Difference (TDOA), arrival Frequency Difference (FDOA) and the like in the positioning of the existing deception jamming source of navigation, the method overcomes the problem that the traditional spectrum measurement technology cannot process weak signals, and realizes the positioning of weak deception jamming signals of navigation;

2. through a plurality of time synchronization measuring devices, the area/position of the interference source can be quickly determined, and dynamic and static navigation deception interference source positioning can be effectively solved.

Drawings

FIG. 1 is a schematic flow chart of a method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a system according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a system according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a system according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a system according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a system according to an embodiment of the present invention;

fig. 7 is a schematic view of a measuring apparatus according to an embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention will be described in further detail below with reference to the drawings and specific examples.

Fig. 1 shows a schematic flow diagram of a method according to the embodiment, including:

S1. the measuring device with synchronous time receives the navigation deception jamming signals at different positions;

in particular in the step S1, the user,the time synchronization of the individual measuring devices can be carried out in a variety of ways, including star-shaped structures, daisy-chained structures or distributed structures. The unified time-frequency units in the star structure and the daisy chain structureGenerating local PPS and/or reference frequency signals, and then transmitting the signals to each measuring device in a wired or wireless mode; furthermore, the local time-frequency unit can realize the taming of the local clock by receiving the GNSS signal, and realize the synchronization of the local satellite navigation time-frequency. In a distributed structure, each measuring device is provided with a local time-frequency unit, specifically, only the reference frequency needs to be synchronized, so that the synchronization in the invention can be realized, and the time-frequency unit realizes the domestication of a local clock and the synchronization of GNSS time-frequency by receiving GNSS signals, thereby realizing the time synchronization of all measuring devices.

In the present embodiment, in step S1, each measuring device is disposed at a different position, and receives the navigation spoofing signal, where the position where the measuring device is disposed is known, and both the measuring devices can normally receive the spoofing navigation disturbing signal; when there are more than 3 measuring devices, time-frequency synchronization is preferably achieved wirelessly. A plurality of time synchronization modules are arranged in the time synchronization unit, each time synchronization module corresponds to different measuring devices, and the time synchronization modules are mutually synchronized.

S2, the measuring device processes the navigation deception signal and outputs pseudo range information of at least one satellite contained in the navigation deception signal, and the pseudo range information is recorded asWhereinThe number is assigned to the measuring device,to navigate the satellite numbers in the spoofed signal,，the number of satellite signals contained in the spoofed signal is navigated.

Specifically, in step S2, the measurement device processes spoofed navigation signals, where the spoofed navigation signals usually include more than one satellite navigation signal, and the measurement device may process signals of one or more satellites and output one or more pseudoranges; when only one satellite navigation signal is processed, all the measurement devices are required to output the pseudo-ranges of the same satellite navigation signal in the navigation spoofing signal in the present embodiment.

S3, arbitrarily choose the secondUsing the measuring device as a reference measuring device, calculating other non-reference measuring device and reference measuring device pairsDistance difference of satellite numberWhereinAnd is；

Specifically in step S3, it is possible to obtainA distance difference.

In another embodiment, in step S3, if the navigation fraud signal existsA satellite signal toNon-reference measuring device, reference measuring deviceAre respectively output toCalculating the difference of pseudo range of the satelliteA distance difference is obtainedAverage value of distance differences, i.e.As a firstNon-reference measuring device, reference measuring deviceIs output toThe range difference of the pseudo range of the particle satellite can further reduce the ranging error, and the obtained navigation deception jamming source is more accurate in positioning.

And S4, establishing an equation set by taking the position of the navigation deception jamming source as an unknown quantity and based on the distance difference and the known positions of the measuring devices, so as to obtain the position of the navigation deception jamming source, wherein the position can be an area or a specific coordinate point position.

The specific calculation method is as follows:

with the first measuring device as the origin, a Cartesian three-dimensional rectangular coordinate system is establishedThe position of the interference source of navigation deception in the coordinate system is；

S11, in the coordinate systemIn the first position, the second measuring device is placed，Is known, andthe first measuring device and the second measuring device are time-synchronized;

s12, the first measuring device and the second measuring device process the navigation deception signal at the same time, and output pseudo range information of at least one satellite contained in the navigation deception signal, wherein the pseudo range information is respectively，To navigate the satellite numbers in the spoofed signal,，the number of satellite signals contained in the navigation spoofing signal;

s13, calculating a pair of the first measuring device and the second measuring devicePseudorange difference of number satellite；

S14, when more than 2 measuring devices exist, respectively arranging a third measuring device, a fourth measuring device and a fifth measuring device at second positionsThird positionThe fourth positionIn the navigation spoofing signal simultaneously with the first measuring devicePseudo range difference is obtained after number satellite is processed，，；

S15, establishing an equation set according to the pseudo range difference obtained by the measurement result:

the equation (2) -the equation (1), the equation (4) -the equation (3) are respectively obtained

Equation (6) -equation (5) can be solvedWill beCan be solved by substituting equation (5) or (6)；

The same equation (3) -equation (1) and equation (4) -equation (2) are obtained

It is known thatOr equation (8) -equation (7) to solveWill beCan be solved by substituting equation (7) or (8)(ii) a It is known thatCan solve the problem by substituting equation (0)。

More preferably, the steps S11, S12, S13 and S14 are repeated more than three times, and the mean value of the pseudo-range differences is substituted into the step S15 to form an equation set, so that the ranging error is reduced, and the obtained positioning of the navigation deception jamming source is more accurate.

Specifically, in step S3, whenWhen the three-dimensional space curved surface is used, only one pseudo-range difference exists, the position of the navigation deception jamming source can be determined to be on the three-dimensional space curved surface, and the distance difference from any point on the curved surface to the two measuring devices is equal; when in useWhen the distance difference exists, the position of the navigation deception jamming source can be determined to be on a three-dimensional space curve, and the distance difference from any point on the curve to the three measuring devices meets the equation in the step S3; when in useIf so, determining point positions of the navigation deception jamming sources within two point positions by using three distance differences, wherein the distance differences between the point positions and the four measuring devices meet the equation in the step S3; when in useIn time, a unique navigation spoofing source location may be determined, the locationThe distance difference of each measuring device satisfies the equation of step S3.

In another embodiment, when the number of the measurement devices is less than four, a plurality of pseudoranges may be obtained by moving the non-reference measurement device to measure at different point locations, and a plurality of range differences obtained based on the pseudoranges output from the reference measurement device, which is equivalent to a positioning of the navigation spoofing interference source by more than four measurement devices, are obtained based on the plurality of range differences. If there are only 2 measuring devices, then the second measuring device is moved to different positions according to step S15, and a plurality of pseudorange differences can be obtained as follows:

s151, repeating the steps S12, S13 and S14 three times, wherein the second measuring device is respectively arranged at the second positionThird positionThe fourth positionIn the navigation spoofing signal simultaneously with the first measuring devicePseudo range difference is obtained after number satellite is processed，，；

S16, establishing an equation set according to the pseudo range difference obtained by the measurement result:

the equation (2) -the equation (1), the equation (4) -the equation (3) are respectively obtained

Equation (6) -equation (5) can be solvedWill beCan be solved by substituting equation (5) or (6)；

The same equation (3) -equation (1) and equation (4) -equation (2) are obtained

It is known thatOr equation (8) -equation (7) to solveWill beCan be solved by substituting equation (7) or (8)(ii) a It is known thatCan solve the problem by substituting equation (0)。

In the above calculation process of the present invention, only the most direct and simple coordinate letters are used for representation, and any letter can be calculated according to the actual numerical value.

The invention provides a positioning system of a navigation deception jamming source, and figure 2 shows a system composition schematic diagram of the embodiment, wherein the positioning system comprises a time synchronization unit,A measuring device arranged at a different location, such as measuring device 1 … … measuring device 2, and a processing unit. Wherein the time synchronization unit isThe measuring device provides a time frequency signal which can be transmitted by wire or wirelessly;the measuring device outputs pseudo range of at least one same navigation satellite in the navigation deception signal based on the same time frequency signal; the processing unit calculates other non-reference measuring device and reference measuring device pairs by taking one measuring device as a reference measuring device according to the acquired satellite pseudo-range informationAnd establishing an equation set according to the pseudo-range difference of the navigation satellite and the known positions of the measuring devices, and calculating the position of the navigation deception jamming source to finish positioning.

Specifically, in the present embodiment, the time synchronization unit may be based on its own frequency reference, and may also synchronize the time frequency of the GNSS system as long as the time frequencies of the respective measurement devices are kept consistent.

In another embodiment, the positions of the arrangement of the measuring devices are different and can be arranged in equidistant positions or non-equidistant positions; the measuring device is in wired or wireless connection with the time unit and the processing unit; in other embodiments, each of the measuring devices includes a time synchronization unit, and each of the time synchronization units performs synchronization wirelessly; or when one of the measuring devices is the measuring device comprising the time synchronization unit, and the other measuring devices are connected with the measuring device comprising the time synchronization unit, a topological structure can be formed between the measuring devices.

In another embodiment, the time-frequency transmission from the time synchronization unit to each measurement device is in a star, daisy chain topology or distributed structure, so as to ensure that each measurement device has the same frequency directly and simultaneously.

As shown in FIG. 3, a time synchronization unit includesEach time synchronization module corresponds to each measuring device respectively: time synchronization module 1 corresponds to measuring device 1 … … time synchronization moduleCorresponding measuring deviceAnd respectively transmitting the synchronous time frequency signals to each measuring device, and mutually transmitting the time synchronization modules.

As shown in FIG. 4, a time synchronization unit includesEach time synchronization module corresponds to each measuring device respectively: time synchronization module 1 corresponds to measuring device 1 … … time synchronization moduleCorresponding measuring deviceAnd respectively transmitting synchronous time frequency signals to each measuring device, wherein each time synchronization module takes GNSS system time as a reference and has no transmission relation with each other, and each measuring device is connected with the same processing unit.

As shown in FIG. 5, one of the measuring devices 1 includes a time synchronization module, and the other measuring devices mainly include the measuring device including the time synchronization module, such as the time synchronization module and the measuring device 2 … …All the devices are connected, and transmit synchronous time frequency signals to all the measuring devices to ensure the time/frequency synchronization of all the measuring devices, and all the measuring devices are connected with the same processing unit.

As shown in fig. 6, each measurement device is configured with a time synchronization module, and all the measurement devices receive and synchronize time frequency information of the GNSS system, and each measurement device is connected to the same processing unit.

Meanwhile, in the present invention, as shown in fig. 7, the measurement apparatus includes a receiving module, the receiving module is configured to receive the navigation spoofing signal, the ranging module performs ranging processing on the navigation spoofing signal based on the time/frequency reference of the time synchronization module, and the output pseudorange is sent to the processing unit for calculation processing, so as to obtain the location of the navigation spoofing interference source.

The processing unit in the invention can be a PC host, or a mobile terminal, a tablet, a computer, mobile phone APP software, specifically, the processing unit also controls time synchronization of each measuring device, and controls each measuring device to output pseudo range of the same satellite signal, or pseudo ranges of a plurality of satellite signals.

In conclusion, the invention adopts the distance measurement technology similar to the technology for processing the satellite navigation signal, and overcomes the problem that the traditional spectrum measurement technology can not process the weak signal; through a plurality of measuring devices with time synchronization, the position of the navigation deception jamming source can be quickly determined, and a foundation is further laid for eliminating the navigation deception jamming source.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present invention, or modify equivalent embodiments to equivalent variations, without departing from the scope of the invention, using the teachings disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.