基于组合历元新息抗差的GNSS/INS欺骗检测方法
GNSS/INS spoofing detection method based on combined epoch innovation robustness
武文博 1吕志伟 1周玟龙 1柯晔 2谢亚楠1
作者信息
- 1. 信息工程大学 地理空间信息学院,郑州 450001
- 2. 信息工程大学 地理空间信息学院,郑州 450001;31618部队,福州 350000
- 折叠
摘要
针对传统的全球卫星导航系统/惯性导航系统(GNSS/INS)新息平均抗差欺骗检测算法对阶跃式欺骗存在检测时延长、对斜坡式欺骗检测不敏感等问题,提出了一种基于组合历元新息抗差的GNSS/INS 欺骗检测方法.检测方法联合使用单历元新息和多历元新息平均检测方法提高检测效率,构造多历元等价权因子加大对斜坡式欺骗的削弱力度,按欺骗类型进行分类处理.实验结果表明,与单历元新息检测方法和多历元新息平均检测方法相比,所提方法更具敏感性,能够检测到单历元新息无法检出的 10 m的阶跃式欺骗和多历元新息平均法无法检出的 0.03 m/s的斜坡式欺骗;多历元等价权因子能削弱在检测到斜坡式欺骗之前误差跟踪效应对新息的影响;在多通道欺骗场景下,所提方法使检测时延缩短了 21.3%,对欺骗进行分类处理使得与真实轨迹的最大位置误差减小了 86.6%,均方根误差减小了 96.8%.
Abstract
Aiming at the problems that the traditional global navigation satellite system/inertial navigation system(GNSS/INS)innovation average robust spoofing detection algorithm has long detection delay for step spoofing and is insensitive to slow-growing slope spoofing,a GNSS/INS spoofing detection method based on combined epoch innovation robustness is proposed.The detection method combines the single epoch innovation and multi-epoch innovation average detection method to improve the detection efficiency,constructs multi-epoch equivalent weight factors to weaken the influence of deception,and detects spoofing types for classification processing.The experimental results show that the proposed method is more sensitive than the single-epoch innovation detection method and the innovation average detection method,and can detect the 10 m step spoofing that cannot be detected by the single-epoch innovation and the 0.03 m/s slope spoofing that cannot be detected by the innovation average detection method.The multi-epoch equivalent weight factor can weaken the influence of error tracking effect on the innovation before the slope deception is detected.In the multi-channel spoofing scenario,the proposed method shortens the detection delay by 21.3%,and the maximum position error and root mean square error with the real trajectory are reduced by 86.6%and 96.8%respectively by classifying spoofing.
关键词
GNSS/INS紧组合/欺骗检测/抗差估计/误差跟踪Key words
tightly coupled GNSS/INS integration/spoofing detection/robust estimation/error tracking引用本文复制引用
基金项目
国家自然科学基金(42174036)
国家自然科学基金(41674027)
国家自然科学基金(42330113)
出版年
2024
NETL
NSTL
维普
万方数据