使用三天线的联合定姿和欺骗检测方法

陈佳佳; 袁洪; 徐颖; 于丰正

doi:10.13700/j.bh.1001-5965.2021.0189

使用三天线的联合定姿和欺骗检测方法

doi: 10.13700/j.bh.1001-5965.2021.0189

陈佳佳^{1, 2},
袁洪^1, ,,
徐颖¹,
于丰正^{1, 2}

1.
中国科学院空天信息创新研究院，北京 100094
2.
中国科学院大学电子电气与通信工程学院，北京 100049

基金项目: 中国科学院青年创新促进会(E03314020D)；中国科学院科研仪器设备研制项目(YJKYYQ20200069)

详细信息

通讯作者:
E-mail： yuanhong@aircas.ac.cn

中图分类号: TN967.1
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- 被引次数: 0
出版历程
- 收稿日期: 2021-04-13
- 录用日期: 2021-09-23
- 网络出版日期: 2021-10-09
- 整期出版日期: 2023-01-30

Joint attitude determination and spoofing detection method using three antennas

CHEN Jiajia^{1, 2},
YUAN Hong^{1
, ,},
XU Ying¹,
YU Fengzheng^{1, 2}

1.
Aerospace Information Research Institute，Chinese Academy of Sciences，Beijing 100094，China
2.
School of Electronic，Electrical and Communicating Engineering，University of Chinese Academy of Sciences，Beijing 100049，China

Funds: The Youth Innovation Promotion Association CAS (E03314020D); The Scientific Instrument Developing Project of the Chinese Academy of Sciences (YJKYYQ20200069)

More Information

Corresponding author: E-mail：yuanhong@aircas.ac.cn

摘要

摘要:
全球卫星导航系统（GNSS）的安全性已经引发了广泛关注。使用多天线的欺骗检测方法由于其独一无二的空间特性，已成为当前最有效的欺骗检测方法之一。提出一种使用三天线的联合定姿和欺骗检测方法，能够在确定天线载体姿态的同时检测出欺骗信号的存在。针对直接定姿法受限于基线向量精度的问题，使用长度约束的基线向量估计方法以获得高精度定姿结果。在姿态信息已知的前提下，根据星历信息、姿态变换矩阵及天线的几何关系可以获得载波相位单差的期望值。使用误差平方和（SSE）来评估载波相位单差观测值和期望值之间的偏差，并构建了欺骗信号的二元检验。结果表明：在无欺骗的情形下，所提方法能降低定姿的标准差76.1%以上；在有欺骗的情形，所提方法能够实现100%检测率，并降低定姿的标准差77.3%以上。
- 全球卫星导航系统 /
- 三天线 /
- 定姿 /
- 欺骗检测 /
- 载波相位
Abstract:
The security of the global navigation satellite system (GNSS) has aroused widespread concern. The multiple-antennas method has become the most effective spoofing detection method due to its unique spatial characteristics. A joint attitude determination and spoofing detection method using three antennas is proposed, detecting spoofing signals and determining the attitude information. The baseline accuracy limits the traditional direct attitude determination method, so a length-constrained baseline vector estimation method is adopted to obtain high-precision attitude determination results. When attitude information is known, the carrier phase single-difference expected value can be obtained by the ephemeris, attitude transformation matrix, and the antennas’ geometric relationship. The sum of the squared error (SSE) is used to evaluate the deviation between the observed and expected value of carrier phase single-difference, and the spoofing signal binary detection is constructed. The results shows that this method can reduce the standard deviation of attitude determination by more than 76.1% when there is no spoofing signal, and achieve 100%. detection efficiency with a more than 77.3% reducation on standard deviation of attitude when spoofing signal involved.
- global navigation satellite system /
- three antennas /
- attitude determination /
- spoofing detection /
- carrier phase

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图 1 载体坐标系和ENU坐标系

Figure 1. Body coordinate frame and ENU coordinate frame

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图 2 系统结构示意图

Figure 2. System structure diagram

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图 3 ENU坐标系下的卫星分布

Figure 3. Satellite distribution in ENU coordinate system

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图 4 ENU坐标系下的基线向量观测值和估计值

Figure 4. The observed and estimated values of baseline vector in ENU coordinate system

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图 5 姿态角的误差

Figure 5. Error of attitude angle

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图 6 SSE统计值的概率密度分布

Figure 6. Probability density distribution of SSE statistics

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图 7 载体坐标系下的卫星分布

Figure 7. Satellite distribution in body coordinate system

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图 8 有欺骗信号时姿态角误差的概率密度分布

Figure 8. Probability density distribution of attitude angle error with spoofing signals

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图 9 有欺骗信号SSE统计值的概率密度分布

Figure 9. Probability density distribution of SSE statistics with spoofing signals

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图 10 UB482接收机实物图

Figure 10. Physical picture of UB482 receiver

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图 11 RGA30-DV转发放大器

Figure 11. Physical picture of RGA30-DV repeater amplifier

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图 12 基线向量观测值的定姿结果

Figure 12. Attitude determination results of baseline vector observations

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图 13 基线向量估计值的定姿结果

Figure 13. Attitude determination results of baseline vector estimation

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图 14 欺骗场景的SSE统计值

Figure 14. SSE statistics in spoofing scenario

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表 1 基线向量解算结果的统计量

Table 1. Statistics of baseline vector solution results

项目	时间/s	统计值	e₁₂/m	n₁₂/m	u₁₂/m
观测值		均值	−0.966	0.000	0.259
观测值		标准差	0.0062	0.0071	0.0141
传统法	593.8	均值	−0.966	0.000	0.259
传统法	593.8	标准差	0.0017	0.0019	0.0029
线性化法	141.2	均值	−0.966	0.000	0.259
线性化法	141.2	标准差	0.0016	0.0017	0.0030

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表 2 姿态角误差的均值和标准差

Table 2. Mean and standard deviation of attitude angle error

项目	统计值	航向角/(°)	俯仰角/(°)	横滚角/(°)
观测值	均值	−0.0049	0.0060	−0.0036
观测值	标准差	0.4227	0.8358	0.8251
估计值	均值	−0.0008	0.0004	−0.0003
估计值	标准差	0.1008	0.1742	0.1748

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表 3 有欺骗信号时姿态角误差的统计值

Table 3. Statistical values of attitude angle error with spoofing signals

项目	统计值	航向角/(°)	俯仰角/(°)	横滚角/(°)
观测值	均值	7.478 0	−2.656 9	9.070 9
	均方根	7.489 8	2.782 9	9.099 6
	标准差	0.419 0	0.828 0	0.722 5
估计值	均值	−0.229 3	−0.353 3	−0.380 9
	均方根	0.360 6	0.680 0	0.588 8
	标准差	0.278 0	0.581 0	0.449 0

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表 4 姿态角均值和标准差

Table 4. Mean and standard deviation of attitude angle

项目	统计值	航向角/(°)	俯仰角/(°)	横滚角/(°)
观测值	均值	−60.31	−2.21	−0.30
观测值	标准差	2.42	2.65	3.14
估计值	均值	−62.29	−1.08	1.86
估计值	标准差	0.32	0.60	0.37

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