INS辅助的GNSS欺骗干扰辨识与抑制方法

INS aided GNSS spoofing identification and suppression method

GNSS欺骗干扰已经成为导航装备应用中面临的重要威胁之一。现有的基于INS/GNSS组合的抗欺骗算法大多只进行欺骗检测,不能恢复正确的定位结果。针对该问题,将多径抑制算法中的Multi-correlator结构用于真实信号和欺骗信号的参数估计,利用INS短期精度高的特性,实现欺骗信号的辨识。然后将辨识结果反馈跟踪环路抵消欺骗信号,保证接收机跟踪环路始终锁定真实卫星信号。最后,在INS/GNSS组合导航解算过程中引入抗差卡尔曼滤波算法,减小参数估计和辨识结果中粗差对定位结果的影响。利用公开数据集进行试验测试,欺骗干扰条件下定位误差由600 m降为10.0 m,而且在GNSS信号中断90 s重新恢复后,所提算法依旧能够实现欺骗信号的辨识和抑制。试验结果表明所提算法能够保证接收机在欺骗条件下锁定真实卫星信号,连续输出高精度的导航和授时信息。

GNSS spoofing has become one of the key threats in the application of navigation equipment.Most of the existing anti-spoofing algorithms based on INS/GNSS integrated navigation only perform spoofing detection and cannot recover correct positioning results.To solve the above problems,the Multi-correlator structure,originally used for multipath suppression,is derived for the estimation of the authentic and spoofing signals.Using the characteristics of high short-term accuracy of INS,the identification of spoofing signals is realized,and the result is fed back to the tracking loop to cancel the spoofing signals,which keeps the tracking loop locking onto the real signals.Finally,a robust Kalman filter algorithm is introduced in the INS/GNSS integrated navigation,which reduces the influence of gross estimation and identification errors on the positioning results.Using the public datasets to conduct experiments,the positioning errors are reduced from 600 m to 10.0 m under the condition of spoofing,and the proposed algorithm can still recognize and suppress the spoofing signal after the GNSS signals recover from 90 s outage.The test results show that the proposed algorithm can ensure that the receiver lock the real satellite signals under spoofing conditions,and continuously output high-precision positioning and timing information.