CN115877411A - Civil aviation anti-deception navigation positioning method utilizing communication satellite Doppler signals - Google Patents
Civil aviation anti-deception navigation positioning method utilizing communication satellite Doppler signals Download PDFInfo
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Abstract
The invention discloses a civil aviation anti-deception navigation positioning method utilizing communication satellite Doppler signals, which comprises the steps of receiving observation data through a navigation receiver on an airplane, detecting whether the airplane is interfered by deception signals or not by utilizing a carrier-to-noise power ratio, converting into positioning through a low-orbit communication satellite when the airplane is interfered by the deception signals, and then realizing the function of judging whether signals received by the navigation receiver are from a really wanted low-orbit communication satellite or not by utilizing the Doppler frequency difference between two real low-orbit communication satellite signals which is nonlinear in a time domain and linear based on a Doppler frequency difference monitoring method when the navigation receiver randomly moves, and performing navigation positioning by utilizing the low-orbit communication satellite Doppler signals when the signals sent by the really corresponding low-orbit communication satellite are judged so as to realize the aim of civil aviation anti-deception navigation positioning.
Description
Technical Field
The invention belongs to the field of satellite navigation positioning, and particularly relates to a civil aviation anti-deception navigation positioning method utilizing communication satellite Doppler signals.
Background
Since all open civilian GNSS signal interface specifications are open, the GNSS receiver can receive any input that meets the specifications and treats it as coming from a GNSS satellite, which makes it very simple to fool the GNSS receiver, so that a civil aircraft may be affected by a spoofed signal while flying, causing pilot navigational instruments to falsely indicate that the aircraft is off course, causing a flight accident, and so anti-spoofing techniques are particularly important. The main anti-spoofing technologies at present mainly include a navigation signal authentication technology, an encryption authorization technology and the like.
The navigation signal authentication technology needs to modify the whole signal system, meanwhile, communication and processing calculation expenses are introduced into the technology, the influence on the continuity of navigation positioning can be caused, the encryption authorization technology needs to modify the signal structure of the GNSS, and the complexity is high.
Disclosure of Invention
In view of the above, the invention provides a civil aviation anti-spoofing navigation positioning method using communication satellite doppler signals, which can solve the problem that an airplane deviates from a flight path when suffering from spoofing signals.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a civil aviation anti-deception navigation positioning method utilizing communication satellite Doppler signals comprises the following steps:
step 1: receiving observation data by a navigation receiver on the airplane;
and 2, step: detecting whether the aircraft is interfered by a deception signal or not by utilizing the noise-carrying power ratio;
and step 3: and when the aircraft is interfered by the deception signal, the navigation and positioning are realized by utilizing the Doppler signal of the communication satellite, and when the aircraft is not interfered by the deception signal, the GNSS signal is continuously and normally used for realizing the navigation and positioning.
Further, the communication satellite is a low-orbit communication satellite, and the low-orbit communication satellite includes, but is not limited to, a star chain, iridium NEXT, one Web, space X, and Orbcomm low-orbit communication satellite.
Further, detecting whether the aircraft is interfered by the deception signal by utilizing a carrier-to-noise power ratio, wherein the carrier-to-noise power ratio is the ratio of the signal power to the noise power in the bandwidth of unit Hz.
Further, the carrier-to-noise power ratio suddenly changes or is interrupted in a non-fault-tolerant range, and the GNSS signal observation value and the sudden jump of the GNSS signal power indicate that the navigation receiver on the airplane is interfered by the deception signal.
Further, the step 3 specifically includes the following steps:
step 31: when a navigation receiver moves randomly, the Doppler frequency difference between two real low-orbit communication satellite signals is nonlinear in a time domain, and the Doppler frequency difference between two deceptive signals is linear so as to realize the function of judging whether the signals received by the navigation receiver are from the real desired low-orbit communication satellite;
step 32: and when the low-orbit communication signals received by the navigation receiver are determined to be from the real corresponding low-orbit communication satellite, the Doppler positioning method is used for realizing navigation positioning.
Further, the step 32 specifically includes the following steps:
step 321: resolving low-orbit communication satellite position x at observation time s ＝[x s ,y s ,z s ]；
Step 322: assuming that the aircraft position is x = [ x, y, z ], the basic equation for doppler positioning is:
where f is the frequency of the signal received by the navigation receiver,
for fixed frequency measurement bias due to navigation receiver clock variation, v = [ v = x ,v y ,v z ]Speed of low earth orbit communication satellite relative to aircraft, x s ＝[x s ,y s ,z s ]To observe the time of dayPosition of low earth orbit communication satellite, c is speed of light, f 0 Is the frequency, ε, of the original transmitted signal f Random measurement error;
step 323: four or more frequency measurements are obtained at a navigation receiver of the aircraft to obtain the following doppler positioning equation set:
when only one low-orbit satellite can be observed at an observation point, doppler observation values of four times or more can be continuously observed for one low-orbit satellite within a period of observation time, and when the number of the low-orbit satellites which can be observed is more than one, more Doppler measurement values can be obtained as long as four or more Doppler observation values are obtained within a certain time;
step 324: and solving the Doppler positioning equation set in the step 323 by using a least square method, and obtaining the airplane position and the fixed frequency measurement deviation of the navigation receiver through iterative convergence to realize the deception-resistant navigation positioning by using the communication satellite Doppler signals.
Compared with the prior art, the civil aviation anti-deception navigation positioning method utilizing the communication satellite Doppler signals has the following advantages:
1. the method utilizes the characteristics of low-orbit communication satellite signal encryption, rapid Doppler signal change and insusceptibility to cheating, and the navigation receiver can judge whether the received low-orbit communication satellite signal is from a low-orbit communication satellite really wanted to be received based on Doppler frequency difference monitoring and then carries out Doppler positioning, so that the method has double anti-cheating guarantee in civil aviation, and improves the efficiency and the precision;
2. according to the invention, the position of the airplane does not need to be calculated by utilizing GNSS signals, then whether the airplane is attacked by the deception signals is judged, the carrier-to-noise ratio is directly calculated by utilizing the signals received by the navigation receiver, whether the airplane is attacked by the deception signals is judged according to the value and the change of the carrier-to-noise ratio, and the algorithm complexity is reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic flow chart of a civil aviation anti-spoofing navigation and positioning method utilizing communication satellite Doppler signals in accordance with the present invention;
FIG. 2 is a schematic flow chart illustrating a method for implementing navigation and positioning using low earth orbit communication satellites according to the present invention;
fig. 3 is a flowchart illustrating a doppler positioning method according to the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate a number of the indicated technical features. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
The invention relates to a civil aviation anti-deception navigation positioning method utilizing communication satellite Doppler signals, which comprises the steps of receiving observation data through a navigation receiver on an airplane, detecting whether the airplane is interfered by deception signals or not by utilizing a noise-carrying power ratio, converting the deception signals into positioning through a low-orbit communication satellite when the deception signals are interfered, judging whether signals received by the navigation receiver come from a really desired low-orbit communication satellite or not by utilizing a Doppler frequency difference monitoring method based on the Doppler frequency difference, wherein the Doppler frequency difference between two real low-orbit communication satellite signals is nonlinear in a time domain and the Doppler frequency difference between two deception signals is linear when the navigation receiver randomly moves, and performing navigation positioning by utilizing the low-orbit communication satellite Doppler signals when the signals sent by the corresponding real low-orbit communication satellite are judged, so that the aim of civil aviation anti-deception navigation positioning is fulfilled.
The following description will take the flow of the positioning method for anti-spoofing navigation in civil aviation using doppler signals of communication satellites as an example, as shown in fig. 1 to 3. As shown in fig. 1, the anti-spoofing navigation and positioning method for civil aviation by using communication satellite doppler signals of the present invention comprises the following steps:
step 1: receiving observation data by a navigation receiver on the airplane;
step 2: detecting whether the aircraft is interfered by a deception signal or not by utilizing the carrier-to-noise power ratio;
and step 3: and when the aircraft is interfered by the deception signal, the navigation and positioning are realized by utilizing the Doppler signal of the communication satellite, and when the aircraft is not interfered by the deception signal, the navigation and positioning are realized by continuously and normally utilizing the GNSS signal.
And 2, detecting whether the aircraft is interfered by the deception signal or not by utilizing the carrier-to-noise power ratio, wherein the noise is regarded as white noise and can be described by normalized noise density, the observation data received by the navigation receiver comprises the carrier-to-noise power ratio, and the sudden jump of the signal observation value and the signal power means that the navigation receiver on the aircraft is interfered by the deception signal as long as the change or the interruption in a non-fault-tolerant range suddenly occurs.
The communication satellite in the step 3 refers to a low-orbit communication satellite, and the low-orbit communication satellite includes, but is not limited to, a star chain, iridium NEXT, one Web, space X, orbcomm and other currently main low-orbit communication satellites.
In the step 3, the navigation and positioning are realized by using the communication satellite doppler signal, which specifically comprises the following steps:
step 31: when a navigation receiver moves randomly, the Doppler frequency difference between two real low-orbit communication satellite signals is nonlinear in a time domain, and the Doppler frequency difference between two deceptive signals is linear so as to realize the function of judging whether the signals received by the navigation receiver are from the real desired low-orbit communication satellite;
step 32: and when the low-orbit communication signals received by the navigation receiver are determined to be from the real corresponding low-orbit communication satellite, the Doppler positioning method is used for realizing navigation positioning.
The Doppler positioning method specifically comprises the following steps:
step 321: resolving low-orbit communication satellite position x at observation time s ＝[x s ,y s ,z s ]。
Step 322: assuming that the aircraft position is x = [ x, y, z ], the basic equation for doppler positioning is:
where f is the frequency of the signal received by the navigation receiver, T u For fixed frequency measurement deviations due to variations in the navigation receiver clock, v = [ v ] x ,v y ,v z ]For low earth orbit communication satellite relative to aircraft speedDegree, x s ＝[x s ,y s ,z s ]For observing the position of the low-earth orbit communication satellite, c is the speed of light, f 0 Is the frequency, ε, of the original transmitted signal f Is a random measurement error.
Step 323: four or more frequency measurements are acquired at a navigation receiver of the aircraft to obtain the following set of doppler positioning equations:
when only one low-orbit satellite can be observed at the observation point, the Doppler observation value can be continuously observed for four times or more than four times for one low-orbit satellite in a period of observation time, and when the number of the low-orbit satellites which can be observed is more than one, more Doppler measurement values can be obtained, and only four or more Doppler observation values are obtained in a certain time.
Step 324: and solving the Doppler positioning equation set in the step 323 by using a least square method, and obtaining the measurement deviation of the airplane position and the fixed frequency of the navigation receiver through iterative convergence, thereby realizing the deception-resistant navigation positioning by using the communication satellite Doppler signals.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present specification describes embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and it is to be understood that all embodiments may be combined as appropriate by one of ordinary skill in the art to form other embodiments as will be apparent to those of skill in the art from the description herein.
Claims (6)
1. A civil aviation anti-deception navigation positioning method utilizing communication satellite Doppler signals is characterized in that: the method comprises the following steps:
step 1: receiving observation data by a navigation receiver on the airplane;
and 2, step: detecting whether the aircraft is interfered by a deception signal or not by utilizing the carrier-to-noise power ratio;
and step 3: and when the aircraft is interfered by the deception signal, the navigation and positioning are realized by utilizing the Doppler signal of the communication satellite, and when the aircraft is not interfered by the deception signal, the navigation and positioning are realized by continuously and normally utilizing the GNSS signal.
2. The method for positioning anti-spoofing civil aviation navigation and navigation by utilizing communication satellite Doppler signals as recited in claim 1, wherein: the communication satellite is a low orbit communication satellite, and the low orbit communication satellite includes, but is not limited to, a star link, iridium NEXT, one Web, space X, and Orbcomm low orbit communication satellite.
3. The method for positioning anti-spoofing civil aviation navigation and navigation by utilizing communication satellite Doppler signals as recited in claim 1, wherein: detecting whether the aircraft is interfered by the deception signal by utilizing a carrier-to-noise power ratio, wherein the carrier-to-noise power ratio is the ratio of signal power to noise power in a bandwidth in unit Hz.
4. The method of claim 3, wherein the method comprises the steps of: the sudden change or interruption in the carrier-to-noise power ratio within the non-fault-tolerant range, the GNSS signal observations and the sudden jump in GNSS signal power indicate that the navigation receiver on the aircraft is subject to jamming by the spoofed signal.
5. The method of claim 2, wherein the method comprises the steps of: the step 3 specifically comprises the following steps:
step 31: when a navigation receiver moves randomly, the Doppler frequency difference between two real low-orbit communication satellite signals is nonlinear in a time domain, and the Doppler frequency difference between two deceptive signals is linear so as to realize the function of judging whether the signals received by the navigation receiver are from the real desired low-orbit communication satellite;
step 32: and when the low-orbit communication signals received by the navigation receiver are determined to be from the real corresponding low-orbit communication satellite, the Doppler positioning method is used for realizing navigation positioning.
6. The method of claim 5, wherein the method comprises the steps of: the step 32 specifically includes the following steps:
step 321: resolving low-earth-orbit communication satellite position x at observation time s ＝[x s ,y s ,z s ]；
Step 322: assuming that the aircraft position is x = [ x, y, z ], the basic equation for doppler positioning is:
where f is the frequency of the signal received by the navigation receiver,
for fixed frequency measurement deviations due to variations in the navigation receiver clock, v = [ v ] x ,v y ,v z ]For low earth orbit communication satellites relative to the speed, x, of the aircraft s ＝[x s ,y s ,z s ]For observing the position of the low-earth orbit communication satellite, c is the speed of light, f 0 Is the frequency, ε, of the original transmitted signal f Is a random measurement error;
step 323: four or more frequency measurements are acquired at a navigation receiver of the aircraft to obtain the following set of doppler positioning equations:
when only one low-orbit satellite can be observed at an observation point, the Doppler observation value of the low-orbit satellite can be continuously observed for four times or more than four times within a period of observation time, and when the number of the low-orbit satellites which can be observed is more than one, more Doppler measurement values can be obtained as long as the four or more Doppler observation values are obtained within a certain time;
step 324: and solving the Doppler positioning equation set in the step 323 by using a least square method, and obtaining the airplane position and the fixed frequency measurement deviation of the navigation receiver through iterative convergence to realize the deception-resistant navigation positioning by using the communication satellite Doppler signals.
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