BDSec:Security Authentication Protocol for BeiDou-Ⅱ Civil Navigation Message

Due to the lack of authentication mechanism in BeiDou navigation satellite system(BDS),BD-Ⅱ civil navigation message(BDⅡ-CNAV) are vulnerable to spoofing attack and replay attack.To solve this problem,we present a security authentication protocol,called as BDSec,which is designed by using China’s cryptography Shangyong Mima(SM) series algorithms,such as SM2/4/9 and Zu Chongzhi(ZUC)algorithm.In BDSec protocol,both of BDⅡ-CNAV and signature information are encrypted using the SM4 algorithm(Symmetric encryption mechanism).The encrypted result is used as the subject authentication information.BDSec protocol applies SM9 algorithm(Identity-based cryptography mechanism) to protect the integrity of the BDⅡ-CNAV,adopts the SM2 algorithm(Public key cryptosystem) to guarantee the confidentiality of the important session information,and uses the ZUC algorithm(Encryption and integrity algorithm) to verify the integrity of the message authentication serial number and initial information and the information in authentication initialization sub-protocol respectively.The results of the SVO logic reasoning and performance analysis show that BDSec protocol meets security requirements for the dual user identity authentication in BDS and can realize the security authentication of BDⅡ-CNAV.

Beidou receiver based on anti-jamming antenna arrays with self-calibration for precise relative positioning

Unmanned aerial vehicles(UAVs)may be subjected to unintentional radio frequency interference(RFI)or hostile jamming attack which will lead to fail to track global navigation satellite system(GNSS)signals.Therefore,the simultaneous realization of anti-jamming and high-precision carrier phase difference positioning becomes a dilemmatic problem.In this paper,a distortionless phase digital beamforming(DBF)algorithm with self-calibration antenna arrays is proposed,which enables to obtain distortionless carrier phase while suppressing jamming.Additionally,architecture of high precision Beidou receiver based on anti-jamming antenna arrays is proposed.Finally,the performance of the algorithm is evaluated,including antenna calibration accuracy,carrier phase distortionless accuracy,and carrier phase measurement accuracy without jamming.Meanwhile,the maximal jamming to signal ratio(JSR)and real time kinematic(RTK)positioning accuracy under wideband jamming are also investigated.The experimental results based on the real-life Beidou signals show that the proposed method has an excellent performance for precise relative positioning under jamming when compared with other anti-jamming methods.

BeiDou、Galileo、GLONASS、GPS多系统融合精密单点

随着中国BeiDou系统与欧盟Galileo系统的出现以及俄罗斯GLONASS系统的恢复完善,过去单一的GPS导航卫星系统时代已经逐步过渡为多系统并存且相互兼容的全球性卫星导航系统（multi-constellation global navigation satellite systems,multi-GNSS）时代,多系统GNSS融合精密定位将成为未来GNSS精密定位技术的发展趋势。本文采用GPS、GLONASS、BeiDou、Galileo 4大卫星导航定位系统融合的精密单点定位（precise point positioning,PPP）实测数据,初步研究并分析了4系统融合PPP的定位性能。试验结果表明：在单系统观测几何构型不理想的区域,多系统融合能显著提高PPP的定位精度和收敛速度。4大系统融合的PPP收敛速度相对于单GNSS可提高30%~50%,定位精度可提高10%~30%,特别是对高程方向的贡献更为明显。此外,在卫星截止高度角大于30°的观测环境下,单系统由于可见卫星数不足导致无法连续定位,而多系统融合仍然可以获得PPP定位结果,尤其是水平方向具有较高的定位精度。这对于山区、城市以及遮挡严重的区域具有非常重要的应用价值。

GPS/BeiDou组合单点定位的定权与结果分析

利用Helmert方差分量估计方法为GPS/BeiDou组合单点定位不同系统观测值定权,获得了合理的权值。分析了开阔环境和遮挡环境两种情况下的动态GPS/BeiDou组合单点定位的精度。结果表明:在静态观测和动态观测中,组合单点定位与单独GPS单点定位相比精度有显著提高。

城市峡谷中GPS/BeiDou伪距单点定位性能分析

随着中国BeiDou卫星导航系统的正式投入使用,多卫星系统数据融合是未来定位的发展趋势。本文介绍了GPS/BeiDou组合伪距单点定位数学模型与方法,利用GPS和BeiDou全星座仿真数据,初步研究并分析了城市峡谷中多种典型遮挡环境下单卫星导航系统和组合导航系统的单点定位性能,包括可见星数量、PDOP值、单点定位精度等。结果表明,城市峡谷中建筑物的遮挡使得单卫星导航系统可见星数量不足,导致无法连续定位,几何结构分布不够理想,而GPS/BeiDou组合系统能够显著增加可见卫星数,提高系统可用性,减小PDOP值,有效改善SPP定位精度。

残膜回收机有效作业面积监测系统设计研究

为便于新疆棉田残膜回收的精准作业收费和补贴,设计了一种残膜回收机有效作业面积监测系统。通过仿真试验对比锁相放大器降噪前后残膜回收机作业时经纬度数据,得出锁相滤波对于噪声环境有较好的抗干扰性能;采用高斯投影正算方法将降噪后经纬度数据转化为平面坐标,得出1.5°带的高斯投影的相对误差相较于3°带降低了0.01%。同时,利用卡尔曼滤波算法和构成角方法筛选有效作业轨迹,使用缓冲区法计算重复作业面积,最终利用轨迹算法精准获取残膜回收机有效作业面积,得出所设计的残膜回收机有效作业面积监测系统对于大块农田测量时相对误差为2.6%,对于小块农田测量时相对误差为3.3%。研究结果表明:所设计的残膜回收机有效作业面积监测系统可以精确计算出残膜回收机的有效作业面积,为残膜回收机作业质量评估提供了一定的理论基础。

BeiDou B2/Galileo E5b短基线紧组合相对定位模型及性能评估

随着GPS和GLONASS系统的现代化以及Galileo和BeiDou卫星导航系统的建设,GNSS正朝多频多系统的方向发展。本文对BeiDou B2/Galileo E5b短基线紧组合相对定位的模型与算法进行了研究,详细推导了BeiDou B2/Galileo E5b短基线紧组合相对定位的模型与算法,并对其定位性能进行了分析。重点分析了BeiDou B2与Galileo E5b频点的接收机间差分系统间偏差的长期稳定性,结果表明:基线两端的接收机类型(包括固件版本)相同时,差分系统间偏差接近于0;基线两端的接收机类型不同时,差分系统间偏差较大,但具有长期稳定性,因此能够事先标定并作为改正数用于后续的定位中。最后基于BeiDou B2/Galileo E5b单频单历元相对定位试验对系统间紧组合模型的定位效果进行了比较验证。结果表明,相对于传统的松组合模型,使用改正系统间偏差的紧组合模型能够显著提高模糊度固定的成功率,尤其是在遮挡比较严重、单系统可观测到的卫星数较少的情况下,模糊度固定成功率可以提高10%~25%。

高精度小区播种机自校正系统研究

在小区育种试验的播种环节过程中,小区行长和间隔的精准控制尤为关键,现常用的控制方式为北斗定位系统控制和编码器控制,但目前民用的北斗定位模块经过差分处理后,基本上接收北斗卫星发送的信号频率只能达到20 Hz,造成整个控制过程不是连续的。根据编码器的基本原理可知,控制精度虽低于北斗卫星,但编码器两个脉冲发送间隔低于北斗定位系统接收频率。为此,将编码器与北斗定位系统相互融合,设计了一种高净度的小区播种机自校正系统。大量田间试验结果表明:所研究的小区播种机自校正系统能够将小区长度误差精度控制在0.67%以内,相较于传统的编码器和北斗定位模式而言精度大大提升。

INFORMATION FUSION TECHNOLOGY FOR FSINS/DR/BEIDOU DOUBLE-STAR IN LAND FIGHTING-VEHICLE

The fiber strapdown inertial navigation system （FSINS）/dead reckoning （DR）/Beidou double-star integrated navigation scheme is proposed aiming at the need of land fighting-vehicle independence positioning. The measurement information fusion technology is studied by introducing the FSINS/DR/Beidou double-star integrated scheme. Several specific methods for the information fusion are discussed, and a Kalman filter is designed for the information fusion. Experimental results show that the design of the integrated scheme can improve the positioning accuracy of the navigation system.

BeiDou+GLONASS+Galileo多系统组合SPP稳定性和精度分析

利用间接平差法和最小二乘法原理推导了BeiDou+GLONASS+Galileo三系统组合标准单点定位(SPP)的数学模型;然后采用MGEX站的部分测站的观测数据,综合分析了BeiDou/GLONASS/Galileo不同组合模式的可见卫星数、DOP值、定位稳定性和定位精度等方面内容。试验结果表明:相比单系统(BeiDou、GLONASS、Galileo)、双系统(BeiDou+GLONASS、BeiDou+Galileo、GLONASS+Galileo),BeiDou+GLONASS+Galileo三系统组合的DOP值分别减少30%~55%、10%~50%;可见卫星数分别增加60%~120%、10%~110%。此外,在截止高度角大于30°的情况下,单系统和双系统的DOP值都较大且波动不稳定,定位可靠性和历元可用率会显著降低,而BeiDou+GLONASS+Galileo组合仍能获得比较理想的定位结果,这对于建筑物密集区、山区和卫星遮挡较为严重的恶劣条件下具有实际应用价值。

Tropospheric Wet Refractivity Tomography Based on the BeiDou Satellite System

This paper presents a novel approach for assessing the precision of the wet refractivity field using BDS （BeiDou navigation satellite system） simulations only,GPS,and BDS＋GPS for the Shenzhen and Hongkong GNSS network.The simulations are carried out by adding artificial noise to a real observation dataset.Instead of using the δ and σ parameters computed from slant wet delay,as in previous studies,we employ the Bias and RMS parameters,computed from the tomography results of total voxels,in order to obtain a more direct and comprehensive evaluation of the precision of the refractivity field determination.The results show that：（1） the precision of tropospheric wet refractivity estimated using BDS alone （only 9 satellites used） is basically comparable to that of GPS; （2） BDS＋GPS （as of current operation） may not be able to significantly improve the data＇s spatial density for the application of refractivity tomography; and （3） any slight increase in the precision of refractivity tomography,particularly in the lower atmosphere,bears great significance for any applications dependent on the Chinese operational meteorological service.

一种4阵元BDII/GPS抗干扰接收机RF前端设计

实现了一种双通道4阵元接收前端,包含一种低插损无源三端口分路器。在公共端口复用有源低噪声放大器,替代了常规的分路有源放大及功率分配电路,通过电路复用减小了通道功耗,将常规的双频段功率分配插损从3dB分配插损及约1dB器件损耗减小至0.5dB。该多端口无源电路实现了30dB以上的隔离度,还减少了一级预选滤波器。给出了高线性度通道的设计方法,提高通道输入线性度(IIP3)的同时降低了功耗,优化了通道噪声系数,实现了一种4阵元低功耗BDII/GPS双模抗干扰有源天线。测试结果表明,该接收机同时实现了4通道3.63W总功耗,输出线性度(OIP3)超过29dBm,噪声系数小于1.5dB,抗单音干扰优于90dB。

BeiDou-3试验卫星精密定轨及钟差精度分析

BeiDou-3试验卫星在北斗全球组网阶段起着重要的测试验证作用,精密轨道和钟差精度是衡量新卫星服务性能的重要标志。本文介绍了BeiDou-3试验卫星(C31、C32、C33和C34)可用的两种卫星天线相位中心改正参数;对比分析了不同天线相位中心改正策略对于精密定轨和卫星钟差确定的影响;定量分析了i GMAS跟踪站对试验卫星跟踪弧段的覆盖率差异。实验结果表明:卫星厂商提供的卫星天线相位中心参数精度更高,建议在精密数据处理中采用。采用卫星厂商天线相位中心改正参数的BeiDou-3试验卫星精密定轨1D RMS精度分别为38、30、49和70 cm,精密钟差精度除C34结果较差外其余均优于0.6 ns;4颗试验卫星跟踪弧段覆盖率分别为32%、42%、79%和80%。综合来看,C32卫星相对其余3颗卫星结果呈现出更好的性能。

Single Point Positioning Using GPS, GLONASS and BeiDou Satellites

This paper introduces the Chinese BeiDou satellite system and its comparison with the actual completed American GPS and the Russian GLONASS systems. The actual BeiDou system consists of 14 satellites covering totally the Asia-Pacific area. A Single Point Positioning (SPP) test has been realised in Changsha, Hunan province, China, to show the advantage of using combined pseudorange solutions from these 3 satellite navigation systems especially in obstructed sites. The test shows that, with an elevation mask angle of 10°, the accuracy is improved by about 20% in horizontal coordinates and nearly 50% in the vertical component using the simultaneous observations of the 3 systems compared to the GPS/GLONASS solution. For the processing with an elevation mask angle of 30°, most of the time less than 4 GPS satellites were available for the GPS-only case and no solution was possible. However, in this difficult situation, the combined GPS/GLONASS/ BeiDou solutions provided an accuracy (rms values) of about 5 m.

Data-Driven Heuristic Assisted Memetic Algorithm for Efficient Inter-Satellite Link Scheduling in the BeiDou Navigation Satellite System

Inter-satellite link(ISL)scheduling is required by the BeiDou Navigation Satellite System(BDS)to guarantee the system ranging and communication performance.In the BDS,a great number of ISL scheduling instances must be addressed every day,which will certainly spend a lot of time via normal metaheuristics and hardly meet the quick-response requirements that often occur in real-world applications.To address the dual requirements of normal and quick-response ISL schedulings,a data-driven heuristic assisted memetic algorithm(DHMA)is proposed in this paper,which includes a high-performance memetic algorithm(MA)and a data-driven heuristic.In normal situations,the high-performance MA that hybridizes parallelism,competition,and evolution strategies is performed for high-quality ISL scheduling solutions over time.When in quick-response situations,the data-driven heuristic is performed to quickly schedule high-probability ISLs according to a prediction model,which is trained from the high-quality MA solutions.The main idea of the DHMA is to address normal and quick-response schedulings separately,while high-quality normal scheduling data are trained for quick-response use.In addition,this paper also presents an easy-to-understand ISL scheduling model and its NP-completeness.A seven-day experimental study with 10080 one-minute ISL scheduling instances shows the efficient performance of the DHMA in addressing the ISL scheduling in normal(in 84 hours)and quick-response(in 0.62 hour)situations,which can well meet the dual scheduling requirements in real-world BDS applications.

TESLA-Based Authentication for BeiDou Civil Navigation Message

Due to the civil BeiDou navigation system is open,unauthenticated,and non-encrypted,civilian BeiDou navigation signals may have great security loopholes during transmission or reception.The main security loophole here is spoofing attacks.Spoofing attacks make the positioning or timing results of BeiDou civilian receivers wrong.Such errors may cause a series of security problems,which lays a serious hidden danger for Bei-Dou satellite information security.This article proposes an anti-spoofing method for BeiDou navigation system based on the combination of SM commercial cryptographic algorithm and Timed Efficient Stream Loss-tolerant Authentication(TESLA)for spoofing attacks.In this solution,we use the SM3 algorithm to generate a TESLA key chain with time information,and then use the key in the key chain to generate the message authentication code for the BeiDou D2 navigation message.The message authentication code is inserted into a reserved bit of the D2 navigation message.In addition,this solution uses the SM2 algorithm to protect and encrypt time information in the TESLA key chain to prevent key replay attacks in TESLA.The experimental results tested on the experimental platform built in this paper show that this scheme reduces the possibility of the BeiDou navigation system being deceived and enhances the safety of the BeiDou navigation system.

Multiple Ambiguity Datum Precise Point Positioning Technique Using Multi-Constellation GNSS: GPS, GLONASS, Galileo and BeiDou

Precise Point Positioning (PPP) is traditionally based on dual-frequency observations of GPS or GPS/GLONASS satellite navigation systems. Recently, new GNSS constellations, such as the European Galileo and the Chinese BeiDou are developing rapidly. With the new IGS project known as IGS MGEX which produces highly accurate GNSS orbital and clock products, multi-constellations PPP becomes feasible. On the other hand, the un-differenced ionosphere-free is commonly used as standard precise point positioning technique. However, the existence of receiver and satellite biases, which are absorbed by the ambiguities, significantly affected the convergence time. Between-satellite-single-difference (BSSD) ionosphere free PPP technique is traditionally used to cancel out the receiver related biases from both code and phase measurements. This paper introduces multiple ambiguity datum (MAD) PPP technique which can be applied to separate the code and phase measurements removing the receiver and satellite code biases affecting the GNSS receiver phase clock and ambiguities parameters. The mathematical model for the three GNSS PPP techniques is developed by considering the current full GNSS constellations. In addition, the current limitations of the GNSS PPP techniques are discussed. Static post-processing results for a number of IGS MGEX GNSS stations are presented to investigate the contribution of the newly GNSS system observations and the newly developed GNSS PPP techniques and its limitations. The results indicate that the additional Galileo and BeiDou observations have a marginal effect on the positioning accuracy and convergence time compared with the existence combined GPS/GLONASS PPP. However, reference to GPS PPP, the contribution of BeiDou observations can be considered geographically dependent. In addition, the results show that the BSSD PPP models slightly enhance the convergence time compared with other PPP techniques. However, both the standard un-differenced and the developed multiple ambiguity datum techniques present comparable positioning accuracy and convergence time due to the lack of code and phase-based satellite clock products and the mathematical correlation between the positioning and ambiguity parameters.

Fine Doppler shift acquisition algorithm for BeiDou software receiver by a look-up table

The BeiDou software receiver uses the fast Fourier transform(FFT)to perform the acquisition.The Doppler shift estimation accuracy should be less than 500 Hz to ensure satellite signals to enter a locked state in the tracking loop.Since the frequency step is usually 500 Hz or larger,the Doppler shift estimation accuracy cannot guarantee that satellite signals are brought into a stable tracking state.The straightforward solutions consist in increasing the sampling time and using zero-padding to improve the frequency resolution of the FFT.However,these solutions intensify the complexity and amount of computation.The contradiction between the acquisition accuracy and the computational load leads us to research for a more simple and effective algorithm,which achieves fine acquisition by a look-up table.After coarse acquisition using the parallel frequency acquisition(PFA)algorithm,the proposed algorithm optimizes the Doppler shift estimation through the look-up table method based on the FFT results to improve the acquisition accuracy of the Doppler shift with a minimal additional computing load.When the Doppler shift is within the queryable range of the table,the proposed algorithm can improve the Doppler shift estimation accuracy to 50 Hz for the BeiDou B1I signal.

BeiDou Integrated Disaster Reduction Application Platform

To better improve the emergency communication and location-based services of disaster information reporting network for serious natural response and relieL disaster emergency the national natural disaster reduction application platform based on BeiDou navigation satellite system is constructed. The administrative distributed platform is integrated with BeiDou positioning and multiple communication ways so as to achieve main disaster reduction application services, including disaster information acquisition and monitoring, emergency relief for trapped people, on-site emergency relief command service, relief supplies＇ transportation monitoring, and disaster information publishing service. By the platform, serious disaster information reporting time may be reduced to one hour and the emergency decision-making information service for serious natural disasters can be effectively improved, and it will be helpful to provide technical references for the industrial application and promotion of BeiDou inte- grated disaster reduction.

Improved Between-Satellite Single-Difference Precise Point Positioning Model Using Triple GNSS Constellations: GPS, Galileo, and BeiDou

This paper introduces a new dual-frequency precise point positioning (PPP) model, which combines the observations of three different GNSS constellations, namely GPS, Galileo, and BeiDou. Our model is based on between-satellite single-difference (BSSD) linear combination, which cancels out some receiver-related biases, including receiver clock error and non-zero initial phase bias of the receiver oscillator. The reference satellite can be selected from any satellite system GPS, Galileo, and BeiDou when forming BSSD linear combinations. Natural Resources Canada’s GPS Pace PPP software is modified to enable a combined GPS, Galileo, and BeiDou PPP solution and to handle the newly introduced biases. A total of four data sets at four IGS stations are processed to verify the developed PPP model. Precise satellite orbit and clock products from the IGS-MGEX network are used to correct both of the GPS and Galileo measurements. It is shown that using the BSSD linear combinations improves the precision of the estimated parameters by about 25% compared with the GPS-only PPP solution. Additionally, the solution convergence time is reduced to 10 minutes for both BSSD scenarios, which represent about 50% improvement in comparison with the GPS-only PPP solution.