CN112433230A - High-precision synchronous generation type unmanned aerial vehicle navigation decoy system and synchronous time service method - Google Patents
High-precision synchronous generation type unmanned aerial vehicle navigation decoy system and synchronous time service method Download PDFInfo
- Publication number
- CN112433230A CN112433230A CN202011220625.0A CN202011220625A CN112433230A CN 112433230 A CN112433230 A CN 112433230A CN 202011220625 A CN202011220625 A CN 202011220625A CN 112433230 A CN112433230 A CN 112433230A
- Authority
- CN
- China
- Prior art keywords
- signal
- navigation
- satellite
- decoy
- aerial vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/015—Arrangements for jamming, spoofing or other methods of denial of service of such systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a high-precision synchronous generation type unmanned aerial vehicle navigation decoy system and a synchronous time service method. The invention has the advantages of good synchronization effect, small system volume and easy portability; the generation of multimode satellite decoy signal is accomplished, unmanned aerial vehicle's true navigation signal can be peeled off fast, the control navigation tracking loop, realize rapidly that disturb, drive away, compel to land and trap the operation such as etc. to unmanned aerial vehicle, have initialization time short, cut into unmanned aerial vehicle fast, disguised strong, can not cause advantages such as harm to human body and social order.
Description
Technical Field
The invention relates to the technical field of electronic information, in particular to a high-precision synchronous generation type unmanned aerial vehicle navigation decoy system.
Background
Technically, the unmanned aerial vehicle management and control method can be divided into three categories, namely kinetic energy elimination, strong suppression interference and navigation deception induction. The kinetic energy eliminates such as laser, high-energy microwave striking or poison thorn bomb, so that the black flying unmanned aerial vehicle is difficult to accurately lock, explosion fragments are caused, and secondary damage to ground protection targets and people is easy to occur. The strong pressure interference destroys the data link of the black flying unmanned aerial vehicle by using high-power radio, so that the unmanned aerial vehicle hovers, automatically returns, is out of control or crashes. However, the method cannot effectively control the flight track and the crash place of the out-of-control unmanned aerial vehicle, secondary threat is easily caused, and the high-power radio signal is easy to disturb the normal order of the society. Navigation guidance is the most effective and convenient unmanned aerial vehicle management and control means. The method utilizes a decoy technology to transmit false navigation signals to the black flying unmanned aerial vehicle, and induces a GNSS receiver of the unmanned aerial vehicle to capture and track the black flying unmanned aerial vehicle by virtue of power advantages, so that the aim of taking over a navigation system of the unmanned aerial vehicle is fulfilled. The method can trap the black flying unmanned aerial vehicle to a designated position, and then carries out targeted treatment such as trapping, forced landing, extinction and the like, and the method is an all-weather unmanned aerial vehicle management and control method which is low in cost, strong in concealment and harmless to human body and social order.
The navigation inducing method requires that the time system, the carrier wave phase, the code phase and other information of the decoy signal are as synchronous as possible with the information of the real satellite signal, so that the decoy signal is consistent with the code chip and the carrier wave of the real navigation signal received by the unmanned aerial vehicle built-in GNSS navigation receiver, and the tracking loop of the navigation receiver is quickly taken over to achieve the purpose of decoy. However, the existing unmanned aerial vehicle navigation spoofing system cannot achieve high-precision synchronization of the spoofing signal and the real navigation signal, and the clock taming device and the signal source simulation device are separated from each other and have poor integration level, so that the generated spoofing navigation signal has the problems of poor signal quality, long cut-in time, low spoofing success rate, huge system volume and the like.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a high-precision synchronous generation type unmanned aerial vehicle navigation trapping system and a synchronous time service method, which can effectively solve the problems of poor signal quality, long cut-in time, low trapping success rate, low system integration level, large volume and the like of the conventional trapping navigation system. The core navigation trapping signal generating module of the system adopts the integrated design of a clock synchronization domesticating device and a signal source high-precision simulation device, firstly generates a time system synchronous with a real satellite, and then generates a high-precision synchronous pseudo-satellite navigation trapping signal through parameter calculation. Through the radio frequency antenna, the navigation that is used for will generating lures the deceive signal to send to unmanned aerial vehicle, relies on the advantage of power, peels off real navigation signal fast, controls unmanned aerial vehicle's tracking loop, realizes luring the deceive unmanned aerial vehicle's of navigation to black flying. The invention has the advantages of high accuracy of the decoy navigation signal, short initialization time, high speed of intervening in the unmanned aerial vehicle, portable system and the like.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a high-precision synchronous generation type unmanned aerial vehicle navigation decoy system comprises a GNSS receiving module, a decoy signal generation module and a radio frequency module, wherein the GNSS receiving module is used for receiving and analyzing real satellite signals, and the analysis result is transmitted to a navigation trap signal generation module, the trap signal generation module is a core module of the unmanned aerial vehicle navigation trap system, a clock synchronization discipline submodule and a signal source high-precision simulation submodule are integrally designed, for generating a high-precision synchronous digital intermediate frequency navigation spoofing signal which is not different from a real navigation signal, the radio frequency module carries out digital-to-analog conversion on the high-precision synchronous digital intermediate frequency navigation decoy signal output by the decoy signal generation module, and IQ modulation is carried out to carry out up-conversion to the radio frequency range of the GPS, GLONASS or BD pseudo satellite navigation signal, and finally the signal is sent to the black fly or target unmanned aerial vehicle.
The GNSS receiving module comprises a GNSS receiver and a receiving antenna, the receiving antenna receives signals of the real satellite on the sky, the GNSS receiver analyzes the signals of the real satellite of the receiving antenna to obtain ephemeris of the real satellite, and the analysis result is transmitted to the decoy signal generating module.
A clock synchronization taming submodule in the decoy signal generation module generates reference time and frequency synchronous with the real satellite by using a time service control algorithm according to the ephemeris of the real satellite; and a high-precision signal source simulation submodule in the decoy signal generation module generates a high-precision synchronous digital intermediate frequency navigation decoy signal which is not different from the real navigation signal in real time according to the operation instruction and a synchronous time system of the clock discipline submodule.
The radio frequency module comprises a D/A unit, an up-conversion modulation unit and a transmitting antenna: the D/A unit converts the digital intermediate frequency navigation decoy signal into an analog intermediate frequency decoy signal; the up-conversion modulation unit up-converts the IQ modulation of the analog intermediate frequency navigation decoy signal into a GPS, GLONASS or BD pseudo satellite navigation decoy signal; and the sending antenna sends the generated pseudo satellite navigation decoy signal to the black flying unmanned aerial vehicle.
The clock synchronization taming submodule comprises a Time-to-digital Converter (TDC), a taming mechanism ARM, a Voltage-Controlled Oscillator (VCO) and an Oven Controlled Crystal Oscillator (OCXO); the TDC of the high-precision time-to-digital conversion unit measures the phase error of the real satellite time system and the clock synchronization taming submodule; the taming mechanism ARM utilizes the phase error to calculate a voltage control signal through a Proportional Integral Derivative (PID) algorithm; and the VCO controls the high-stability OCXO to gradually generate time and reference frequency synchronous with the real satellite signal according to the voltage control signal calculated by the ARM.
In the clock synchronization domestication submodule, a high-precision digital conversion unit TDC firstly carries out phase measurement by obtaining a reference 1PPS of a real satellite time system and a Local 1PPS of the clock synchronization domestication submodule through a GNSS receiver, then transmits a phase error to a domestication mechanism ARM, the ARM controls an internal DAC to output a control voltage to a VCO through a PID control algorithm according to the measurement error so as to control an OCXO (oscillation center Oscillator oscillator) with high stability to output 10MHz, an FPGA (field programmable gate array) divides the frequency of the 10MHz to output Local 1PPS, and gradually feeds back and adjusts the frequency and the phase of the OCXO so that the phase difference between the reference 1PPS and the Local 1PPS is 0, so that a time system of a decoy signal generation module is synchronous with the time system of a real satellite, and provides a synchronous time system for a signal source high-precision simulation submodule in the decoy signal generation module;
the signal source high-precision simulation submodule comprises a satellite simulation signal calculation unit and a satellite baseband modulation unit; the satellite simulation signal calculation unit is used for calculating constellation parameters of a simulation satellite and carrier phase states, code phase states, carrier NCO parameters and code NCO parameters of the decoy navigation signals; the satellite baseband modulation unit is used for baseband modulation to generate a digital intermediate frequency decoy navigation signal; the actuating mechanism of the satellite simulation signal computing unit is ARM, and the actuating mechanisms of the actual digital signal generating mechanism and the satellite baseband modulation unit are FPGA.
The working principle of the signal source high-precision simulation submodule is that a synchronous time system generated by a clock synchronization domestication submodule is taken as a reference, according to a real satellite ephemeris and an operation instruction received by a GNSS receiver, ARM is utilized to calculate the emission time and Doppler frequency shift of a navigation trapping signal, constellation parameters of a simulation satellite and the carrier phase state, code phase state, carrier NCO parameters and code NCO parameters of the trapping navigation signal are calculated in real time, meanwhile, the calculated constellation parameters, carrier phase state and code phase state, carrier NCO parameters and code NCO parameters are transmitted to an execution mechanism FPGA of a satellite baseband modulation unit, the FPGA generates a message, a carrier and a pseudo code according to received data, and then, the high-precision synchronous digital intermediate frequency navigation trapping signal which is not different from the real navigation signal is generated through baseband modulation.
The invention also provides a synchronous time service method of the high-precision synchronous generation type unmanned aerial vehicle navigation decoy system, which is used for generating a time system synchronous with a real satellite, and comprises the following specific steps:
step 1: phase measurement is carried out on the reference 1PPS of the real satellite time system obtained by the GNSS receiver and the Local 1PPS of the clock taming system, and phase errors are calculated;
step 2: calculating a voltage control parameter of the VCO through a PID control algorithm according to the phase error, and outputting the voltage control parameter to the VCO to control the high-stability oven controlled crystal oscillator OCXO to output a 10MHz signal;
and step 3: dividing the frequency of 10MHz to output Local 1PPS, and gradually feedback-adjusting the frequency and the phase of the OCXO to enable the phase difference between the reference 1PPS and the Local 1PPS to be 0;
when the phase difference between the two is less than 2-11When the clock error is less than 20ns, the clock discipline system and the time system of the real satellite are synchronized with high precision, and at the momentThe clock disciplining system can be used to generate a time system for the pseudolite.
The invention has the following beneficial effects:
1) the core decoy signal generation module adopts the integrated design of the clock synchronization taming submodule and the signal source high-precision simulation submodule, and has the advantages of good synchronization effect, small system volume and easiness in carrying;
2) the invention not only can generate a time system synchronous with a real satellite, but also can simulate a high-precision synchronous pseudo-satellite navigation signal at the same time, and can also carry out high-precision simulation on multimode satellite (including GPS, GLONASS, BD and mixed satellites thereof) signals, namely the generation of multimode satellite decoy signals is completed;
3) the high-precision synchronous decoy navigation signal generated by the invention can rapidly strip the real navigation signal of the unmanned aerial vehicle, control a navigation tracking loop, rapidly realize the operations of interference, driving, forced landing, trapping and the like on the unmanned aerial vehicle, and has the advantages of short initialization time, high unmanned aerial vehicle switching speed, strong concealment, no damage to human bodies and social order and the like.
Drawings
FIG. 1 is a block diagram of the system of the present invention;
FIG. 2 is a typical working scenario of the present invention;
FIG. 3 is a schematic diagram of the internal workings of the system of the present invention;
FIG. 4 is a workflow of clock synchronization discipline in the present invention;
FIG. 5 is a clock flow diagram for clock synchronization discipline in the present invention;
fig. 6 is a schematic diagram of a PID control algorithm for OCXO adjustment according to the present invention.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
In order that those skilled in the relevant art will more clearly understand the invention, preferred embodiments of the invention are further described below in conjunction with the accompanying drawings, it being understood that the specific embodiments described herein are only for the purpose of illustrating and explaining the invention, and are not intended to limit the invention.
Preferred embodiment 1:
as shown in fig. 1, the present embodiment provides a high-precision synchronous generation type drone navigation spoofing system, which includes a GNSS receiving module, a spoofing signal generating module, and a radio frequency module.
According to the technical scheme, the GNSS receiving module is used for receiving and analyzing real satellite signals and transmitting the analysis result to the decoy signal generating module.
The decoy signal generation module is a core module of the unmanned aerial vehicle navigation decoy system, adopts the integrated design of a clock synchronization domestication submodule and a signal source high-precision simulation submodule, and is used for generating a high-precision synchronous digital intermediate frequency navigation decoy signal which is not different from a real navigation signal.
The radio frequency module is used for carrying out digital-to-analog conversion on the high-precision synchronous digital intermediate frequency navigation decoy signal, carrying out IQ modulation up-conversion on the high-precision synchronous digital intermediate frequency navigation decoy signal to a radio frequency range of a GPS, GLONASS or BD pseudo satellite navigation signal, and finally sending the radio frequency range to a black-flying or target unmanned aerial vehicle.
As shown in fig. 2, in a typical working scenario of this embodiment, the high-precision synchronous generation type unmanned aerial vehicle navigation spoofing system receives a real satellite signal, synchronizes with a time system of the real satellite degree through a time service control algorithm, and then generates a spoofing navigation signal synchronized with the real satellite navigation signal by using a navigation spoofing algorithm according to an operation instruction, wherein the spoofing navigation signal includes a telegraph text, a carrier wave and a code, and is sent to an unmanned aerial vehicle, the real navigation signal is quickly stripped, a tracking loop of the unmanned aerial vehicle is controlled, operations such as interference, driving away, forced landing, trapping and the like on the unmanned aerial vehicle are quickly completed, and navigation spoofing on a black flying unmanned aerial vehicle is realized.
Furthermore, the system described in this embodiment adopts an integrated design, that is, the GNSS receiving module, the spoofing signal generating module and the radio frequency module are integrated in the same printed circuit board; the receiving antenna is connected with the signal input end of the GNSS receiver, the output end of the GNSS receiver is connected with the signal input end of the decoy signal generation module in a serial mode, the output end of the decoy signal generation module is connected with the input end of the D/A unit, the output end of the D/A unit is connected with the input end of the up-conversion modulation unit, and the output end of the up-conversion modulation unit is connected with the sending antenna.
The GNSS receiving module consists of a GNSS receiver and a receiving antenna, and the receiving antenna is used for receiving signals of a real satellite on the sky; the GNSS receiver is used for analyzing the real satellite signals of the receiving antenna to obtain ephemeris of the real satellite, and transmitting the analysis result to the decoy signal generation module.
A clock synchronization taming submodule in the decoy signal generation module generates reference time and frequency synchronous with the real satellite by using a time service control algorithm according to the ephemeris of the real satellite; and a signal source high-precision simulation submodule in the decoy signal generation module generates a high-precision synchronous digital intermediate frequency navigation decoy signal which is not different from the real navigation signal in real time according to the operation instruction and a synchronous time system of the clock discipline submodule.
Further, as shown in fig. 3, the clock synchronization taming submodule of the spoofing signal generating module and the signal source high-precision simulation submodule adopt an integrated design.
The clock synchronization taming submodule comprises a high-precision time-to-digital conversion unit TDC, a taming mechanism ARM, a voltage-controlled oscillator VCO and an oven controlled crystal oscillator OCXO; a high-precision time-to-digital conversion unit TDC measures the phase error of a real satellite time system and the clock synchronization taming submodule; the taming mechanism ARM calculates a voltage control signal through a PID algorithm by using the phase error; and the VCO controls the high-stability oven controlled crystal oscillator OCXO to gradually generate time 1PPS and reference frequency 10MHz which are synchronous with real satellite signals according to the voltage control signal calculated by the ARM.
Specifically, as shown in fig. 4, in the work flow of the clock synchronization taming submodule, a high-precision time-to-digital conversion unit TDC firstly performs phase measurement by obtaining a reference 1PPS and a Local 1PPS of a real satellite time system from a GNSS receiver, and then transmits a phase error to a taming mechanism ARM, the ARM controls an internal DAC to output a control voltage to a VCO through a PID control algorithm according to the measurement error so as to control a high-stability oven controlled crystal oscillator OCXO to output 10MHz, the FPGA divides the frequency of 10MHz to output Local 1PPS, and gradually feeds back and adjusts the frequency and the phase of the OCXO so that the phase difference between the reference 1PPS and the Local 1PPS is 0, so that a time system of a decoy signal generation module is synchronized with the time system of the real satellite, and a synchronization time system is provided for a signal source high-precision simulation submodule in the decoy signal generation module; the FPGA and the ARM communicate through an FSMC bus.
Further, as shown in fig. 5, the clock synchronization taming submodule has a clock flow direction, the FPGA is a core of the clock flow direction, the OCXO generates 10MHz to the FPGA, the FPGA provides Local 1PPS to the taming mechanism ARM and the TDC by frequency division, and outputs 10MHz to the D/a unit and the up-conversion modulation unit.
Further, as shown in fig. 6, the PID control algorithm process for OCXO adjustment:
DeltaVCO＝P*(ERR_cur-ERR_last)+I*ERR_cur，
in the formula, DeltaVCO represents the adjusting voltage of OCXO, P represents proportional control, I represents integral control, ERR _ cur represents the phase error increment of Local 1PPS at the current adjusting time, and ERR _ last represents the phase error increment of Local 1PPS at the last time. Preferably, the actual parameter values of P and I are set in a 5:1 ratio. As is apparent from the above description of the preferred embodiment,
the (ERR _ cur-ERR _ last) variable reflects the amount of change in the frequency of the OCXO, while ERR _ cur represents the amount of change in the phase of the time system. The more ERR _ cur is tied to 0, the higher the frequency accuracy of the OCXO output. The goal of the PID control algorithm is to make ERR _ cur equal to 0, at which time the clock discipline sub-module's time system is fully synchronized with the real satellite's time system.
The signal source high-precision simulation submodule comprises a satellite simulation signal calculation unit and a satellite baseband modulation unit; the satellite simulation signal calculation unit is used for calculating constellation parameters of a simulation satellite and carrier phase states, code phase states, carrier NCO parameters and code NCO parameters of the decoy navigation signals; the satellite baseband modulation unit is used for baseband modulation to generate a digital intermediate frequency navigation decoy signal; the actuating mechanism of the satellite simulation signal computing unit is ARM, and the actuating mechanisms of the actual digital signal generating mechanism and the satellite baseband modulation unit are FPGA.
Specifically, the working principle of the signal source high-precision simulation submodule is based on the synchronous time system generated by the clock synchronization taming submodule, according to a real satellite ephemeris and a spoofing operation instruction received by a GNSS receiver, the ARM is utilized to calculate the emission time and Doppler frequency shift of a spoofing signal, the constellation parameters of a simulation satellite and the carrier phase state, the code phase state, the carrier NCO parameter and the code NCO parameter of the spoofing navigation signal are calculated in real time, meanwhile, the calculated constellation parameters, the carrier phase state, the code phase state, the carrier NCO parameter and the code NCO parameter are transmitted to an execution mechanism FPGA of a satellite baseband modulation unit, the FPGA generates a navigation message, a carrier and a pseudo code according to received data, and then the high-precision synchronous digital intermediate frequency navigation spoofing signal which is not different from the real navigation signal is generated through baseband modulation.
Further, as shown in fig. 3, based on the synchronization time 1PPS generated by the clock synchronization taming submodule, according to the real satellite ephemeris and the spoofing operation instruction analyzed by the GNSS receiving module, the ARM calculates the spoofing navigation signal including the constellation parameter, the carrier phase state, the carrier NCO parameter, the code phase state, and the code NCO parameter of the simulation satellite, and considering the doppler frequency offset, the ARM adjusts the carrier frequency control word and the code frequency control word in real time, and transmits the adjusted value to the FPGA in real time.
Furthermore, the FPGA finds out a corresponding satellite number from the channel state words and selects a corresponding satellite channel according to the received channel state words and control parameters, completes satellite channel baseband modulation, namely data code modulation, pseudo code modulation and carrier modulation of a message based on the reference frequency 10MHz generated by the clock synchronization taming submodule, and then synthesizes a plurality of satellite channel decoy signals in the same frequency band to generate high-precision digital intermediate frequency navigation decoy signals.
The radio frequency module comprises a D/A unit, an up-conversion modulation unit and a transmitting antenna: the D/A unit is used for converting the digital intermediate frequency decoy signal into an analog intermediate frequency navigation decoy signal; the up-conversion modulation unit is used for up-converting the IQ modulation of the analog intermediate frequency decoy signal into a GPS, GLONASS or BD pseudo satellite navigation decoy signal; and the sending antenna is used for sending the generated pseudolite navigation decoy signal to the black-flying unmanned aerial vehicle.
During the use, the radio frequency module sends the high accuracy synchronization pseudolite that generates lures the navigation signal of deceiving to unmanned aerial vehicle, peels off the true navigation signal of the built-in GNSS navigation receiver of unmanned aerial vehicle fast, controls the tracking loop of this receiver, accomplishes operations such as disturbing to unmanned aerial vehicle, driving away, compelling to land and trap rapidly, realizes the navigation deceiving to unmanned aerial vehicle.
The embodiment also provides a synchronous time service method for a clock disciplining system, which is used for generating a time system synchronous with a real satellite, and the method comprises the following steps:
step 1: phase measurement is carried out on the reference 1PPS of the real satellite time system obtained by the GNSS receiver and the Local 1PPS of the clock taming system, and phase errors are calculated;
step 2: calculating a voltage control parameter of the VCO through a PID control algorithm according to the phase error, and outputting the voltage control parameter to the VCO to control the high-stability oven controlled crystal oscillator OCXO to output a 10MHz signal;
and step 3: the 10MHz frequency is divided to output Local 1PPS, and the frequency and phase of the OCXO are feedback-adjusted stepwise so that the reference 1PPS and the Local 1PPS are out of phase by 0.
When the phase difference between the two is less than 2-11When the clock error is less than 20ns, the clock disciplining system is synchronized with the time system of the real satellite with high precision, and the clock disciplining system can be used for generating the time system of the pseudo satellite.
Preferred embodiment 2:
the only difference between this embodiment and embodiment 1 is that the drone is replaced by an unmanned vehicle or an unmanned ship.
It should be noted that the above-mentioned embodiments are only preferred examples of the present invention, so that the person skilled in the art can understand the present invention further, and not limit the scope of the present invention, and all equivalent structural changes or modifications made directly or indirectly to the content of the present specification are within the scope of the present invention.
Claims (9)
1. The utility model provides a high accuracy synchronous generation formula unmanned aerial vehicle navigation decoy system, includes GNSS receiving module, decoy signal generation module and radio frequency module, its characterized in that:
the GNSS receiving module is used for receiving and analyzing real satellite signals and transmitting an analysis result to the navigation spoofing signal generating module, the spoofing signal generating module is a core module of the unmanned aerial vehicle navigation spoofing system, a clock synchronization taming submodule and a signal source high-precision simulation submodule are integrally designed and used for generating high-precision synchronization digital intermediate frequency navigation spoofing signals which are not different from the real navigation signals, the radio frequency module carries out digital-to-analog conversion on the high-precision synchronization digital intermediate frequency navigation spoofing signals output by the spoofing signal generating module, carries out IQ modulation up-conversion to a radio frequency range of GPS, GLONASS or BD pseudo satellite navigation signals, and finally sends the signals to a black-flying or target unmanned aerial vehicle.
2. The high accuracy synchronous generation unmanned aerial vehicle navigation decoy system of claim 1, characterized in that:
the GNSS receiving module comprises a GNSS receiver and a receiving antenna, the receiving antenna receives signals of the real satellite on the sky, the GNSS receiver analyzes the signals of the real satellite of the receiving antenna to obtain ephemeris of the real satellite, and the analysis result is transmitted to the decoy signal generating module.
3. The high accuracy synchronous generation unmanned aerial vehicle navigation decoy system of claim 1, characterized in that:
a clock synchronization taming submodule in the decoy signal generation module generates reference time and frequency synchronous with the real satellite by using a time service control algorithm according to the ephemeris of the real satellite; and a high-precision signal source simulation submodule in the decoy signal generation module generates a high-precision synchronous digital intermediate frequency navigation decoy signal which is not different from the real navigation signal in real time according to the operation instruction and a synchronous time system of the clock discipline submodule.
4. The high accuracy synchronous generation unmanned aerial vehicle navigation decoy system of claim 1, characterized in that:
the radio frequency module comprises a D/A unit, an up-conversion modulation unit and a transmitting antenna: the D/A unit converts the digital intermediate frequency navigation decoy signal into an analog intermediate frequency decoy signal; the up-conversion modulation unit up-converts the IQ modulation of the analog intermediate frequency navigation decoy signal into a GPS, GLONASS or BD pseudo satellite navigation decoy signal; and the sending antenna sends the generated pseudo satellite navigation decoy signal to the black flying unmanned aerial vehicle.
5. The high accuracy synchronous generation unmanned aerial vehicle navigation decoy system of claim 3, characterized in that:
the clock synchronization taming submodule comprises a high-precision time-to-digital conversion unit, a taming mechanism ARM, a voltage-controlled oscillator and a constant-temperature crystal oscillator; the TDC of the high-precision time-to-digital conversion unit measures the phase error of the real satellite time system and the clock synchronization taming submodule; the taming mechanism ARM calculates a voltage control signal by a proportional integral derivative algorithm by utilizing the phase error; and the VCO controls the high-stability OCXO to gradually generate time and reference frequency synchronous with the real satellite signal according to the voltage control signal calculated by the ARM.
6. The high accuracy synchronous generation unmanned aerial vehicle navigation decoy system of claim 1, characterized in that:
in the clock synchronization domestication submodule, a high-precision digital conversion unit TDC firstly carries out phase measurement by obtaining a reference 1PPS of a real satellite time system and a Local 1PPS of the clock synchronization domestication submodule through a GNSS receiver, then transmits a phase error to a domestication mechanism ARM, the ARM controls an internal DAC to output a control voltage to a VCO through a PID control algorithm according to the measurement error so as to control an OCXO (Local oscillator) with high stability to output 10MHz, an FPGA (field programmable gate array) divides the frequency of the 10MHz so as to output Local 1PPS, and gradually feeds back and adjusts the frequency and the phase of the OCXO so that the phase difference between the reference 1PPS and the Local 1PPS is 0, so that a time system of a decoy signal generation module is synchronous with the time system of the real satellite, and a synchronous time system is provided for a signal source high-precision simulation submodule in the decoy signal generation module.
7. The high accuracy synchronous generation unmanned aerial vehicle navigation decoy system of claim 1, characterized in that:
the signal source high-precision simulation submodule comprises a satellite simulation signal calculation unit and a satellite baseband modulation unit; the satellite simulation signal calculation unit is used for calculating constellation parameters of a simulation satellite and carrier phase states, code phase states, carrier NCO parameters and code NCO parameters of the decoy navigation signals; the satellite baseband modulation unit is used for baseband modulation to generate a digital intermediate frequency decoy navigation signal; the actuating mechanism of the satellite simulation signal computing unit is ARM, and the actuating mechanisms of the actual digital signal generating mechanism and the satellite baseband modulation unit are FPGA.
8. The high accuracy synchronous generation unmanned aerial vehicle navigation decoy system of claim 1, characterized in that:
the working principle of the signal source high-precision simulation submodule is that a synchronous time system generated by a clock synchronization domestication submodule is taken as a reference, according to a real satellite ephemeris and an operation instruction received by a GNSS receiver, ARM is utilized to calculate the emission time and Doppler frequency shift of a navigation decoy signal, constellation parameters of a simulation satellite and the carrier phase state, code phase state, carrier NCO parameters and code NCO parameters of the decoy navigation signal are calculated in real time, meanwhile, the calculated constellation parameters, carrier phase state and code phase state, carrier NCO parameters and code NCO parameters are transmitted to an execution mechanism FPGA of a satellite baseband modulation unit, the FPGA generates messages, carriers and pseudo codes according to received data, and then the baseband modulation is carried out to generate a high-precision synchronous digital intermediate frequency navigation decoy signal which is not different from the real navigation signal.
9. A synchronous time service method using the high-precision synchronous generation type unmanned aerial vehicle navigation decoy system of claim 1, characterized by comprising the following steps:
step 1: phase measurement is carried out on the reference 1PPS of the real satellite time system obtained by the GNSS receiver and the Local 1PPS of the clock taming system, and phase errors are calculated;
step 2: according to the phase error, calculating a voltage control parameter of the VCO through a PID control algorithm, and outputting the voltage control parameter to the VCO to control the high-stability oven controlled crystal oscillator OCXO to output a 10MHz signal;
and step 3: dividing the frequency of 10MHz to output Local 1PPS, and gradually feedback-adjusting the frequency and the phase of the OCXO to enable the phase difference between the reference 1PPS and the Local 1PPS to be 0;
when the phase difference between the two is less than 2-11When the clock error is less than 20ns, the clock disciplining system is synchronized with the time system of the real satellite with high precision, and the clock disciplining system can be used for generating the time system of the pseudo satellite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011220625.0A CN112433230A (en) | 2020-11-05 | 2020-11-05 | High-precision synchronous generation type unmanned aerial vehicle navigation decoy system and synchronous time service method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011220625.0A CN112433230A (en) | 2020-11-05 | 2020-11-05 | High-precision synchronous generation type unmanned aerial vehicle navigation decoy system and synchronous time service method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112433230A true CN112433230A (en) | 2021-03-02 |
Family
ID=74695374
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011220625.0A Pending CN112433230A (en) | 2020-11-05 | 2020-11-05 | High-precision synchronous generation type unmanned aerial vehicle navigation decoy system and synchronous time service method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112433230A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115524724A (en) * | 2022-11-25 | 2022-12-27 | 长沙北斗产业安全技术研究院股份有限公司 | General aviation credible space-time service method, system and medium |
| CN115755099A (en) * | 2023-01-10 | 2023-03-07 | 中国人民解放***箭军工程大学 | Distributed navigation decoy system and method for anti-interference unmanned aerial vehicle countermeasures |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101448315A (en) * | 2008-12-31 | 2009-06-03 | 华为技术有限公司 | Frame clock synchronization method and frame clock synchronization apparatus |
| CN203377841U (en) * | 2013-07-09 | 2014-01-01 | 石家庄市经纬度科技有限公司 | Satellite-based crystal oscillator taming apparatus for time service |
| CN104460311A (en) * | 2014-12-30 | 2015-03-25 | 四川九洲电器集团有限责任公司 | Time calibration method and device |
| CN105790714A (en) * | 2016-04-06 | 2016-07-20 | 广州邦正电力科技有限公司 | Crystal oscillator taming method and crystal oscillator taming system based on SOPC technology |
| CN107607965A (en) * | 2017-08-30 | 2018-01-19 | 桂林电子科技大学 | A kind of black winged Navigation of Pilotless Aircraft deception system and method |
| CN108333600A (en) * | 2018-02-09 | 2018-07-27 | 桂林电子科技大学 | Formula Navigation of Pilotless Aircraft deception system and method coexists in one kind |
| CN111697967A (en) * | 2020-06-29 | 2020-09-22 | 电子科技大学 | Self-adaptive digital clock taming system |
-
2020
- 2020-11-05 CN CN202011220625.0A patent/CN112433230A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101448315A (en) * | 2008-12-31 | 2009-06-03 | 华为技术有限公司 | Frame clock synchronization method and frame clock synchronization apparatus |
| CN203377841U (en) * | 2013-07-09 | 2014-01-01 | 石家庄市经纬度科技有限公司 | Satellite-based crystal oscillator taming apparatus for time service |
| CN104460311A (en) * | 2014-12-30 | 2015-03-25 | 四川九洲电器集团有限责任公司 | Time calibration method and device |
| CN105790714A (en) * | 2016-04-06 | 2016-07-20 | 广州邦正电力科技有限公司 | Crystal oscillator taming method and crystal oscillator taming system based on SOPC technology |
| CN107607965A (en) * | 2017-08-30 | 2018-01-19 | 桂林电子科技大学 | A kind of black winged Navigation of Pilotless Aircraft deception system and method |
| CN108333600A (en) * | 2018-02-09 | 2018-07-27 | 桂林电子科技大学 | Formula Navigation of Pilotless Aircraft deception system and method coexists in one kind |
| CN111697967A (en) * | 2020-06-29 | 2020-09-22 | 电子科技大学 | Self-adaptive digital clock taming system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115524724A (en) * | 2022-11-25 | 2022-12-27 | 长沙北斗产业安全技术研究院股份有限公司 | General aviation credible space-time service method, system and medium |
| CN115755099A (en) * | 2023-01-10 | 2023-03-07 | 中国人民解放***箭军工程大学 | Distributed navigation decoy system and method for anti-interference unmanned aerial vehicle countermeasures |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110058267B (en) | Seamless rapid unmanned aerial vehicle navigation decoy system | |
| CN108333600B (en) | Coexisting unmanned aerial vehicle navigation decoy system and method | |
| CN100526912C (en) | Active externally coefficient potentiometer and scaling method of wideband synthetic aperture radar | |
| CN104570005B (en) | Stimulation system for realtime synchronization satellite navigation signal in tunnel | |
| CN112433230A (en) | High-precision synchronous generation type unmanned aerial vehicle navigation decoy system and synchronous time service method | |
| CN104133221B (en) | A kind of fake satellite positioning system based on general purpose receiver | |
| CN104765044A (en) | Navigation satellite signal generator and implementation method | |
| CN105842718A (en) | Portable anti-UAV (unmanned aerial vehicle) rifle | |
| CN110635862A (en) | Unmanned aerial vehicle counter-braking system | |
| MacCurdy et al. | Automated wildlife radio tracking | |
| KR20150123372A (en) | Hybrid satellite navigation signal generator | |
| CN112731463A (en) | Synchronous simulation system combining GNSS navigation constellation and receiver | |
| KR20150057320A (en) | Apparatus for analysing real time jamming effectiveness of Satellite Navigation | |
| CN117031419A (en) | Radar target simulation device of air mobile platform | |
| US20110210884A1 (en) | Apparatus and method to generate and detect virtual targets | |
| CN106443711B (en) | The method of adjustment of satellite navigation digital multiple beam system transmission channel time delay | |
| Jensen et al. | Regenerative PN ranging experience with New Horizons during 2012 | |
| CN209446772U (en) | A kind of Beidou three generations satellite-signal simulation system | |
| CN116961786A (en) | Device and method for self-calibrating time delay of transmission channel of long-wave transmitter | |
| CN109143285A (en) | Positioning reporting chain applied to the changeable high dynamic target of posture | |
| Haddad et al. | GPS modernization and beyond | |
| CN113985461A (en) | Unmanned aerial vehicle detection and decoy system and method | |
| CN108391228A (en) | A kind of positioning device based on TC-OFDM technologies | |
| FR3026859A1 (en) | SYNCHRONIZATION SYSTEM FOR DATERING MEASUREMENTS OF AN ONBOARD SENSOR RELATING TO A REFERENCE CLOCK | |
| CN109471138B (en) | Method for synthesizing multimode satellite navigation signal |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20210302 |