基于开/闭环交替的GNSS/INS一致性欺骗检测技术

程予洋; 彭新智; 封帆; 徐奕禹; 袁雪林; 朱祥维

doi:10.12265/j.gnss.2024020

基于开/闭环交替的GNSS/INS一致性欺骗检测技术

doi: 10.12265/j.gnss.2024020

中山大学电子与通信工程学院, 广东深圳 518107

详细信息

作者简介:
程予洋：(2001—)，女，硕士研究生，主要研究方向为卫星导航欺骗干扰检测. E-mail：chengyy28@mail2.sysu.edu.cn

彭新智：(1996—)，男，博士研究生，主要研究方向为智能感知可信导航. E-mail：pengxzh9@mail2.sysu.edu.cn

封帆：(1996—)，男，博士研究生，主要研究方向为卫星导航欺骗干扰检测. E-mail：fengf37@mail2.sysu.edu.cn

徐奕禹：(1998—)，男，硕士研究生，主要研究方向为导航安全、卫星导航欺骗干扰检测. E-mail：xuyy53@mail2.sysu.edu.cn

袁雪林：(1979—)，男，副教授，博士，主要研究方向为导航安全、UWB 精密测量与室内定位. E-mail：yuanxlin3@mail.sysu.edu.cn

朱祥维：(1980—)，男，教授，博士，研究方向为北斗系统和综合定位导航授时(PNT)体系. E-mail：zhuxw666@mail.sysu.edu.cn

通信作者:
朱祥维 E-mail: zhuxw666@mail.sysu.edu.cn

中图分类号: P228.4
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- 被引次数: 0
出版历程
- 收稿日期: 2024-01-30
- 网络出版日期: 2024-07-08

Consistency deception detection technique for GNSS/INS based on open-closed-loop alternation

School of Electronics and Information Technology, Sun Yat-Sen University,Shenzhen 518107, China

摘要

摘要: GNSS与惯性导航系统(inertial navigation system，INS)在车辆、无人机等领域广泛应用，但GNSS接收机容易受到欺骗信号影响，因此本文提出一种利用INS观测量的一致性欺骗检测技术. 惯性器件有着不易受欺骗信号干扰和易产生累计误差的特性，通过开/闭环交替反馈估计误差来构建GNSS/INS组合导航，在开环期间设置欺骗检测窗口，将惯性器件和GNSS得到的加速度、角速度统计检测量进行一致性检测，判断是否存在欺骗. 实验结果证明：当窗口时间为70 s时，检测概率达到99.2%，虚警概率为5.2%.
- 惯性导航系统(INS) /
- 卫星导航 /
- 欺骗检测 /
- 一致性检测 /
- 开闭环
Abstract: The Global Navigation Satellite System (GNSS) and inertial navigation system (INS) are widely used in fields such as vehicles and drones. However, GNSS receivers are susceptible to deceptive signals. Therefore, this paper proposes a consistency deception detection technique using INS observations. Inertial devices have the characteristics of being less susceptible to deceptive signal interference and prone to cumulative errors. By alternately feeding back estimated errors in an open-closed loop manner, a GNSS/INS integrated navigation system is constructed. During the open-loop period, a deception detection window is established, and the consistency between the statistical detection measurements of the inertial device, acceleration, and angular velocity obtained from GNSS is evaluated to determine the presence of deception. Experimental results demonstrate that with a window time of 70 s, the detection probability reaches 99.2% while the false alarm probability is 5.2%.
- INS /
- GNSS /
- deception detection /
- consistency detection /
- open-closed-loop

HTML全文

图 1 欺骗检测系统框架图

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图 2 一致性检测前的数据处理流程

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图 3 欺骗检测窗口期循环流程图

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图 4 The Litton LN-200 IMU

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图 5 模拟在有、无欺骗下的两个车辆轨迹

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图 6 加速度决策统计量的概率密度

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图 7 角速度决策统计量的概率密度

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图 8 组合决策统计量的概率密度($ \lambda = 0.75 $)

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图 9 不同窗口宽度、样本数下的虚警率

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图 10 不同分配权值$ \lambda $下的决策统计量变化曲线

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图 11 开/闭环交错下的车辆轨迹模拟图

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图 12 混淆矩阵

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表 1 LN-200 IMU参数

参考	加速度计	陀螺仪
零偏标准差	$ 0.3\; {\text{mg}} $	$ 1.0 (^\circ ){\text{/h}} $
低通滤波时间常数	100 s	300 s
随机游走系数	$ 0.02 \;{\text{m/}}{{\text{s}}^{\text{2}}}{\text{/}}\sqrt {{\text{Hz}}} $	$ 0.05 \;{\text{rad/s/}}\sqrt {{\text{Hz}}} $

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表 2 二元检测表

预测真实	$ {H_0} $	$ {H_1} $
$ {H_0} $	TN	FP
$ {H_1} $	FN	TP

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