CN112788536B - Workflow-based trusted PNT service data tracing method and device - Google Patents
Workflow-based trusted PNT service data tracing method and device Download PDFInfo
- Publication number
- CN112788536B CN112788536B CN202011578992.8A CN202011578992A CN112788536B CN 112788536 B CN112788536 B CN 112788536B CN 202011578992 A CN202011578992 A CN 202011578992A CN 112788536 B CN112788536 B CN 112788536B
- Authority
- CN
- China
- Prior art keywords
- navigation
- data
- pnt
- service
- trusted
- 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.)
- Active
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
-
- 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
-
- 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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/25—Fusion techniques
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Data Mining & Analysis (AREA)
- Theoretical Computer Science (AREA)
- Bioinformatics & Cheminformatics (AREA)
- General Engineering & Computer Science (AREA)
- Evolutionary Computation (AREA)
- Evolutionary Biology (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Bioinformatics & Computational Biology (AREA)
- Artificial Intelligence (AREA)
- Life Sciences & Earth Sciences (AREA)
- Signal Processing (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The embodiment of the invention provides a method and a device for tracing trusted PNT service data based on a workflow, wherein the workflow comprises the following steps: determining a scene detection result; judging the availability of a navigation source through signal interference monitoring, navigation message authentication and spread spectrum code identity authentication based on the interference and deception attack of a radio navigation signal, and determining the authentication result of the navigation source; performing multi-dimensional credible verification on data acquired by the heterogeneous multi-source navigation sensor, and completing navigation algorithm configuration by combining scene detection, risk identification and navigation source authentication results; determining a navigation resolving result according to a positioning mode, a data processing model and an information fusion algorithm configured by a navigation algorithm, and outputting position, speed and time information; sending the navigation resolving result to a user based on the application requirement; and constructing a trusted PNT service high-level data tracing model comprising three basic class components of an entity, an activity and an agent, thereby performing trusted PNT service process reproduction and service result verification based on the trusted PNT service workflow.
Description
Technical Field
The invention relates to the technical field of positioning navigation, in particular to a workflow-based trusted PNT service data tracing method and device.
Background
Positioning, navigation and Timing (PNT) services have been derived from numerous fields such as location services, weather forecasting, transportation, emergency rescue, etc., users have increasingly strong appeal to security and credible services, and need to meet multilevel security requirements. The related scholars in China put forward the concept of credibility and traceability of the PNT system, namely, a set of complete PNT credibility service system is established, the credibility of the PNT service is effectively evaluated under the framework that a service provider, a user and the like jointly assume responsibility, and the service process is effectively recorded to support service traceability.
Disclosure of Invention
Aiming at the problems in the prior art, the embodiment of the invention provides a method and a device for tracing trusted PNT service data based on workflow.
In a first aspect, an embodiment of the present invention provides a workflow-based trusted PNT service data tracing method, including:
a scene detection step, namely determining a scene detection result based on environment detection, and/or motion detection, and/or platform detection;
a risk identification step, namely judging the availability of a navigation source through signal interference monitoring, navigation message authentication and spread spectrum code identity authentication based on the interference and deception attack of a radio navigation signal, and determining the authentication result of the navigation source;
the self-adaptive navigation strategy planning method comprises the steps of performing multi-dimensional credible verification on data collected by a heterogeneous multi-source navigation sensor, wherein the credible verification comprises heterogeneous data consistency verification and historical data cross verification; and the navigation algorithm configuration is carried out by combining the scene detection result, the risk identification and the navigation source authentication result;
a navigation calculation step, namely determining a navigation calculation result according to a positioning mode, a data processing model and an information fusion algorithm configured by a navigation algorithm, and outputting position, speed and time information;
PNT application service step, based on application requirement, sending navigation resolving result to user;
and performing credible PNT service process recurrence and service result verification on a credible PNT service workflow formed on the basis of the scene detection step, the risk identification step, the self-adaptive navigation strategy planning step, the navigation resolving step and the PNT application service step.
Further, still include:
establishing a trusted PNT service data tracing model based on a PROV model in a semantic expansion mode by taking the trusted PNT service workflow as an object; wherein the trusted PNT service data tracing model at least comprises: three basic building blocks of entities, activities and agents; the entities are divided into three subclasses of data, parameters and algorithm processes.
Further, the method also comprises the following steps:
the data subclasses in the entity are original acquisition data, intermediate data and output result data in the PNT service.
Further, still include:
and the parameter subclasses in the entity are parameters and binding values applied in the PNT service data processing process.
Further, still include:
and the algorithm flow subclass in the entity is the execution state and the processing flow of the credible PNT service workflow, and the version information of the flow according to which the version attribute description activity is executed is added.
Further, still include:
the activity refers to data acquisition and data processing involved in the trusted PNT service process, mType attribute description is added for distinguishing processing types, and the specific processing process is described by using an extended attribute to provide keywords.
Further, still include:
the agent is a provider of the entity, or an executor of the activity.
In a second aspect, an embodiment of the present invention provides a workflow-based trusted PNT service data tracing apparatus, including:
the scene detection module is used for determining a scene detection result based on environment detection, and/or motion detection, and/or platform detection;
the risk identification module is used for judging the availability of the navigation source through signal interference monitoring, navigation message authentication and spread spectrum code identity authentication based on the interference and the deception attack of the radio navigation signal and determining the authentication result of the navigation source;
the self-adaptive navigation strategy planning module is used for carrying out multi-dimensional credible verification on data acquired by the heterogeneous multi-source navigation sensor, wherein the credible verification comprises heterogeneous data consistency verification and historical data cross verification; and the navigation algorithm configuration is carried out by combining the scene detection result, the risk identification and the navigation source authentication result;
the navigation calculation module is used for determining a navigation calculation result according to a positioning mode, a data processing model and an information fusion algorithm configured by a navigation algorithm and outputting position, speed and time information;
the PNT application service module is used for sending a navigation resolving result to a user based on an application requirement;
and the tracing module is used for performing credible PNT service process reproduction and service result verification on a credible PNT service workflow formed by the scene detection module, the risk identification module, the self-adaptive navigation strategy planning module, the navigation resolving module and the PNT application service module.
In a third aspect, an embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the workflow-based trusted PNT service data tracing method according to the first aspect when executing the program.
In a fourth aspect, an embodiment of the present invention further provides a non-transitory computer readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the workflow-based trusted PNT service data tracing method according to the first aspect.
According to the technical scheme, the method and the device for tracing the credible PNT service data based on the workflow provided by the embodiment of the invention determine the scene detection result based on environment detection, and/or motion detection, and/or platform detection through the scene detection step; a risk identification step, namely judging the availability of a navigation source through signal interference monitoring, navigation message authentication and spread spectrum code identity authentication based on the interference and deception attack of a radio navigation signal, and determining a navigation source authentication result; the self-adaptive navigation strategy planning method comprises the steps of performing multi-dimensional credible verification on data collected by a heterogeneous multi-source navigation sensor, wherein the credible verification comprises heterogeneous data consistency verification and historical data cross verification; and the navigation algorithm configuration is carried out by combining the scene detection result, the risk identification and the navigation source authentication result; a navigation resolving step, namely determining a navigation resolving result according to a positioning mode, a data processing model and an information fusion algorithm configured by a navigation algorithm, and outputting position, speed and time information; PNT application service step, based on application requirement, sending navigation resolving result to user; the method comprises the steps of performing credible PNT service process recurrence and service result verification on a credible PNT service workflow formed on the basis of a scene detection step, a risk identification step, a self-adaptive navigation strategy planning step, a navigation calculation step and a PNT application service step.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic diagram illustrating a relationship between a PNT service and a trace back target according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a workflow-based trusted PNT service traceability model according to an embodiment of the present invention;
fig. 3 is a high-level model, directed graph, of trusted PNT service tracing provided by an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a workflow-based trusted PNT service data tracing apparatus according to an embodiment of the present invention;
fig. 5 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments, but not all embodiments, of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. The workflow-based trusted PNT service data tracing method provided by the present invention will be explained and illustrated in detail by specific embodiments.
The invention provides a workflow-based trusted PNT service data tracing method; the method comprises the following steps:
and a scene detection step, namely determining a scene detection result based on environment detection, and/or motion detection, and/or platform detection.
In this step, it can be understood that, in the scene detection step, the scene is divided into three categories, namely, an environment scene, a behavior scene, and a platform type, and the three categories respectively correspond to environment detection, motion detection, and platform detection, so as to determine a scene detection result.
And a risk identification step, namely judging the availability of the navigation source through signal interference monitoring, navigation message authentication and spread spectrum code identity authentication based on the interference and the deception attack of the radio navigation signal, and determining the authentication result of the navigation source.
In this step, it can be understood that the risk identification step mainly aims at interference and spoofing attack of radio navigation signals, and determines the availability of the navigation source through signal interference monitoring, navigation message authentication and spread spectrum code identity authentication, so as to determine the navigation source authentication result.
The self-adaptive navigation strategy planning method comprises the steps of performing multi-dimensional credible verification on data collected by a heterogeneous multi-source navigation sensor, wherein the credible verification comprises heterogeneous data consistency verification and historical data cross verification; and the navigation algorithm is configured according to the scene detection result, the risk identification result and the navigation source authentication result.
In this step, it can be understood that the self-adaptive navigation strategy planning step performs multidimensional credible verification on data collected by the heterogeneous multi-source navigation sensor, including heterogeneous data consistency verification and historical data cross verification, and completes navigation algorithm configuration by combining scene detection, interference monitoring and navigation source authentication results.
And a navigation calculation step, namely determining a navigation calculation result according to a positioning mode, a data processing model and an information fusion algorithm configured by the navigation algorithm, and outputting position, speed and time information.
In this step, it can be understood that, in the navigation solution step, the positioning solution is completed according to the positioning mode configured by the navigation algorithm, the data processing model and the information fusion algorithm, and the position, speed and time information is output.
And a PNT application service step, namely sending the navigation resolving result to the client based on the application requirement.
In this step, it can be understood that the PNT application service step is to securely and unmistakably notify the user of the PVT result (navigation solution result) in combination with the application requirement, and prevent an unauthorized user from obtaining and tampering the PVT information.
And performing credible PNT service process reproduction and service result verification on a credible PNT service workflow formed on the basis of the scene detection step, the risk identification step, the self-adaptive navigation strategy planning step, the navigation resolving step and the PNT application service step.
In the step, it can be understood that a credible PNT service traceability concept is defined, namely that the PNT system has credibility self-certification and self-evaluation capabilities; the workflow operation and data products in the time-space information service process, the source and evolution information of the data products, the working environment and the like are automatically captured, recorded and managed so as to support the service process reproduction and the service result verification; the method aims at the dynamics of the self-adaptive navigation process of the heterogeneous multi-source sensor navigation system under the time-varying situation.
In order to better understand the embodiment, the following further describes the content of the embodiment of the present invention, but the present invention is not limited to the following embodiment.
The workflow-based credible PNT service data tracing method provided by the embodiment of the invention abstracts the space-time information service process of the heterogeneous multi-sensor navigation system into five steps according to the specification of the workflow: scenario detection, risk identification, adaptive navigation strategy planning, navigation solution and PNT application service. The relationship between the trusted PNT service and the tracing target is shown in fig. 1, wherein the scene detection refers to a series of activities performed on the detection and analysis of the terminal operating environment, the platform characteristics and the motion state; the risk identification is to carry out investigation and elimination on unknown risks by technical means such as interference detection, cross inspection, navigation source authentication and the like; the self-adaptive navigation strategy planning is to optimally select one or more navigation sources to work cooperatively in the platform multi-source heterogeneous navigation sensor according to scene detection and navigation source authentication results to ensure that PNT service is continuously available; the navigation solution is to synthesize the sensor data and the GNSS enhancement information to carry out PVT solution so as to obtain a real and credible PVT result; the PNT service notifies the user of the PVT results securely and without error.
Specifically, for the above five steps, the process from the acquisition of raw sensor data to the provision of spatio-temporal information service is described in a workflow mode, and a credible PNT service traceability model based on scientific workflow is proposed, as shown in fig. 2. The model has detailed description on the flow from the participant to the operation environment to the service of the PNT service, and establishes an image, unified and traceable flow for the time-space information service process. The detailed steps for realizing the method comprise:
step S1: detecting a scene; the scene detection is to combine the detection results of the environment detection, the motion detection and the platform detection, to fuse the scene detection results, to determine the application scene and the external environment information of the terminal, and to be used for single navigation source applicability judgment and navigation algorithm configuration in the adaptive navigation strategy planning.
The environmental scene (environmental detection) can be generally inferred by signal characteristics of GNSS signals and wireless local area network signals, environmental characteristics detected by a camera, a laser scanner, a radar, and the like, light, geomagnetic anomaly, and comparison with a map by positioning calculation; behavioral scenarios (motion detection) typically use inertial sensors such as gyroscopes and accelerometers to analyze different vibration spectra, separate forward, lateral and vertical directions for discrimination, or use other motion sensing techniques such as visual ranging and wheel speed ranging; the platform type (platform detection) can be determined by velocity, attitude and acceleration resolution.
Specifically, a scene classification result is generated by using a scene detection sensor (such as a camera, a GNSS receiver, etc.) to acquire information and a scene detection algorithm, and the applicability of a single navigation source in the scene is further deduced.
Step S2: risk identification; the risk identification mainly aims at interference and deception attack of a radio navigation source, comprises signal interference monitoring and interference elimination of radio navigation frequency points, and verifies authenticity of the GNSS navigation source on a terminal side through technical means such as navigation message authentication, spread spectrum code identity authentication and the like, so that the risk identification is used for judging availability of the single navigation source in the self-adaptive navigation strategy planning in the step S3.
And step S3: self-adaptive navigation strategy planning; the self-adaptive navigation strategy planning unit carries out data preprocessing and data quality inspection such as time synchronization, coordinate system equal-grade normalization processing, smooth filtering and the like on navigation data of the platform heterogeneous multi-source navigation sensor in a measurement domain, further carries out cross verification among the multi-source heterogeneous sensors, and adopts various technical means in parallel, such as consistency inspection on motion states deduced by the multi-source heterogeneous sensor data, consistency inspection between a certain sensor measurement value and other sensor predicted values or cross inspection with user historical information, so as to verify whether the navigation data accords with a specific motion state; and finally, one or more navigation sources are preferably selected to work cooperatively in the platform multi-source heterogeneous navigation sensor by combining the scene detection result, the interference monitoring result and the navigation source authentication result, so that the navigation algorithm configuration is completed.
And step S4: navigation resolving; the navigation solution is to synthesize navigation sensor data, GNSS enhanced information and the like to complete multi-source fusion navigation Positioning solution according to the navigation Positioning mode, the Positioning solution model and the information fusion algorithm configured in the step S3, and output position, speed and time (Positioning (output position) Velocity and Timing time, abbreviated as PVT) information;
step S5: a PNT application service; the PNT application service is used for safely and unmistakably informing the user of the PVT result by combining application requirements and preventing an unauthorized user from acquiring and tampering PVT information.
On the basis of the above embodiment, in this embodiment, the method further includes:
establishing a credible PNT service data tracing model based on a PROV model by taking the credible PNT service workflow as an object and in a semantic expansion mode; wherein the trusted PNT service data tracing model at least comprises: three basic building blocks of entities, activities and agents; the entities are divided into three subclasses of data, parameters and algorithm flows.
In this embodiment, it can be understood that the PNT service data tracing model takes a standard PROV origin model as a prototype, and constructs a data tracing model suitable for trusted PNT service tracing in a semantic extension manner, where the data tracing model includes three basic class components, namely an entity, an activity and an agent, and the entity is divided into three subclasses, namely data, a parameter and an algorithm flow. Therefore, a trusted PNT service data tracing model based on a standard PROV origin model is established by taking the trusted PNT service workflow as an object.
In this embodiment, it should be noted that the data subclasses in the entity refer to original acquisition data, intermediate data, and output result data in the PNT service, and on the basis of the original wasgeneredby and wasDerivedFrom attributes, an extended attribute SourceSensor is added to describe a source of the original acquisition data, that is, a sensor type, a reference coordinate system corresponding to attribute ReferenceCoordinate description data, a reference time system corresponding to attribute ReferenceTime description data, an attribute DataFormat description data format, an attribute startTime description data start time, and an attribute endTime description data end time.
In this embodiment, it should be noted that the parameter subclass in the entity describes the parameters and binding values applied in the data processing process. The mType attribute description is added to distinguish parameter types, and a Value attribute is used to provide a keyword to describe specific parameter content.
In this embodiment, it should be noted that, the process flow subclass in the entity describes the workflow execution state and the software process flow, and a version information of the flow according to which the version attribute describes the execution of the activity is added.
In this embodiment, it should be noted that the activity refers to data acquisition and data processing involved in a trusted PNT service process, mType attribute description is added to distinguish processing types, and an extended attribute is used to provide a keyword to describe a specific processing process, for example, for a positioning resolving activity, an extended PMode attribute describes a positioning mode in a positioning resolving activity PVTSolution.
In this embodiment, it should be noted that the agent may be a provider of the above entity, which is referred to herein as a sensor for generating navigation data; it may also be the performer of the above activities, here the data processing software. The relationships between agents and entities and activities are expressed using wasAttributedto and wasAssssociatedwith, respectively.
In order to better understand the embodiment, the following further describes the content of the embodiment of the present invention, but the present invention is not limited to the following embodiment.
In order to support the automatic realization of the traceability of the trusted PNT service, a trusted PNT service data traceability model based on a standard PROV model is introduced. For a trusted PNT service workflow, extracting origin information related to the trusted PNT service workflow and establishing a conceptual model, wherein a PROV (Prov extension) model of the trusted PNT service has three basic class components of Entity Activity, activity Activity and Agent, and a directed graph of the PROV extension model is shown in FIG. 3.
1. Entity: in order to refine origin information granularity, entities in the trusted PNT service origin model are divided into 3 subclasses of data, parameter and algorithm flow:
data subclass data:
the data inherits from a basic class Entity in the PROV-DM model and refers to original acquisition data, intermediate data and output result data in the PNT service. Data is used as a subclass of Entity, attributes wasGeneratedBy and wasDeriveFrom of Entity are inherited, the attributes wasGeneratedBy establish the association between the Data class and the Activity class and explicitly indicate output Data of Activity, and the attributes wasDeriveFrom establish the association between two different Data class instances which have ancestral relationship. The characteristics of multi-source isomerism, asynchrony and the like of the original collected data are considered, and besides the source tracing description content of the data, the space coordinate relationship, the time synchronization relationship and the like of the data are also very important. Adding an extended attribute SourceSensor to describe a source of original acquisition data, namely a sensor type, which generally corresponds to sensor types such as GNSS, INS, wifi, ladar, camera and the like; the attribute ReferenceCoordinate describes a reference coordinate system corresponding to the data, such as an inertial coordinate system/geodetic coordinate system (WGS-84/CGCS 2000/PZ-90/GTRF)/geographic coordinate system (longitude, latitude, altitude)/local coordinate system (right, front, upper), and the like; the attribute ReferenceTime describes a reference time system corresponding to the data, such as UTC/BDT/GPST/GLONASS/GST; the attribute DataFormat describes a data format, such as a receiver data autonomous exchange format RINEX, a receiver navigation positioning data output format NMEA and a receiver differential data format RTCM; attribute startTime describes data start time; the attribute endTime describes the data end time.
Parameter subclass parameter:
parameters and binding values applied during data processing are described. The description of the mType attribute is added for distinguishing parameter types, the mType attribute is divided into a space parameter spatialParameter, a time parameter TimeParameter, a speed parameter VelocitParameter, a control parameter ControlParameter and a model parameter ModelParameter, and the Value attribute is used for providing keywords to describe the specific parameter content.
The processing flow subclass workflow:
the workflow execution state and the software processing flow are described, the whole service process can be reproduced, and the version information of the flow according to which the version attribute description activity is executed is added.
2. Moving:
the activity refers to data acquisition and data processing related in a trusted PNT service process, description of mType attributes is added for distinguishing processing types and is divided into data preprocessing data-processing, navigation source trusted authentication, data consistency check ConsistencyCheck, positioning resolving PVTSolution and the like, and extended attributes are used for providing keywords to describe a specific processing process, for example, for the positioning resolving activity, the extended PMode attributes describe a positioning mode in the positioning resolving activity PVTSolution, N is taken to indicate that a satellite system is not used for positioning or ineffective for positioning, and A indicates that the satellite system is in a non-differential positioning mode; d represents a differential positioning mode; p represents a fine positioning mode; an RTK representation mode; e denotes a dead reckoning mode.
3. The agent:
in the PNT service process, the agent may be a provider of the aforementioned entity, here the sensor that generates the navigation data; it may also be the performer of the above activities, here referred to as data processing software. The relationships between agents and entities and activities are expressed using wasAttributedto and wasAssssociatedwith, respectively.
In order to realize the standardization of model information, according to an actual application scene, the definition and uniqueness constraint of the main concept of the credible PNT service data tracing are as follows:
table 1 trusted PNT service data tracing main concept definition and description
Aiming at the multi-phenomenological characteristics of a PNT system, the embodiment of the invention adopts a multi-source heterogeneous navigation sensor to carry out multi-level verification and cooperative work, and guarantees continuous availability and safety of PNT service based on a scene adaptive navigation technology, and the credibility is a basic system architecture of credible PNT service.
The credible PNT service emphasizes the credibility of the service on the premise of meeting the application requirements of user functions and performance safety, and the credibility of the PNT service provides a technical means for the credible verification of the service. And further defining traceability concepts and solutions on the basis of the multi-source heterogeneous navigation sensor system architecture.
The PNT service traceability means that the PNT system has self-certification and self-evaluation capabilities of credibility. The workflow operation and data products in the time and space information service process, the source and evolution information of the data products, the working environment and the like are automatically captured, recorded and managed so as to support the service process reproduction and the service result verification.
Aiming at the dynamics of a heterogeneous multi-source sensor navigation system in realizing a self-adaptive navigation process under a time-varying scene, the invention constructs a credible PNT service tracing framework based on a workflow model, and divides a typical PNT service into five steps: scenario detection, risk identification, adaptive navigation strategy planning, navigation solution and PNT application service. Aiming at the five steps, the process from the raw acquisition of data of the sensor to the output of the spatio-temporal information is described in a workflow mode, and a credible PNT service traceability model based on the workflow is provided.
And (3) taking the credible PNT service workflow as an object, expanding the standard PROV origin model to the credible PNT service field, and establishing a credible PNT service data tracing model based on the PROV model in the modes of semantic expansion and the like.
The embodiment of the invention has the advantages that: (1) proposing a PNT service traceability concept; (2) The heterogeneous multi-source sensor navigation system PNT service under the time-varying situation is a research object, the credible PNT service process is abstracted and standardized, and a PNT service tracing framework is formulated according to the workflow specification, so that the service tracing is more efficient and the structure is clearer; (3) A PROV expansion data model suitable for trusted PNT service is provided through semantic expansion on the basis of a PROV model of a provenance expression framework which can be processed by a computer.
Fig. 4 is a schematic structural diagram of a workflow-based trusted PNT service data tracing apparatus according to an embodiment of the present invention, and as shown in fig. 4, the apparatus includes: a scenario detection module 201, a risk identification module 202, an adaptive navigation strategy planning module 203, a navigation solution module 204, a PNT application service module 205, and a trace back module 206, wherein:
the scene detection module 201 is configured to determine a scene detection result based on environment detection, and/or motion detection, and/or platform detection;
the risk identification module 202 is used for judging the availability of a navigation source through signal interference monitoring, navigation message authentication and spread spectrum code identity authentication based on the interference and the deception attack of a radio navigation signal and determining the authentication result of the navigation source;
the self-adaptive navigation strategy planning module 203 is used for performing multi-dimensional credible verification on data acquired by the heterogeneous multi-source navigation sensor, wherein the credible verification comprises heterogeneous data consistency verification and historical data cross verification; and the navigation algorithm configuration is carried out by combining the scene detection result, the risk identification and the navigation source authentication result;
the navigation calculation module 204 is used for determining a navigation calculation result according to a positioning mode, a data processing model and an information fusion algorithm configured by a navigation algorithm and outputting position, speed and time information;
a PNT application service module 205, configured to send the navigation solution result to the client based on the application requirement;
and the tracing module 206 is configured to perform trusted PNT service process replication and service result verification based on a trusted PNT service workflow formed by the scenario detection module, the risk identification module, the adaptive navigation policy planning module, the navigation solution module, and the PNT application service module.
The workflow-based trusted PNT service data tracing apparatus provided in the embodiment of the present invention may be specifically configured to execute the workflow-based trusted PNT service data tracing method according to the above embodiment, and the technical principle and the beneficial effect thereof are similar, and reference may be specifically made to the above embodiment, which is not described herein again.
Based on the same inventive concept, an embodiment of the present invention provides an electronic device, and referring to fig. 5, the electronic device specifically includes the following contents: a processor 301, a communication interface 303, a memory 302, and a communication bus 304;
the processor 301, the communication interface 303 and the memory 302 complete mutual communication through the communication bus 304; the communication interface 303 is used for realizing information transmission between related devices such as modeling software, an intelligent manufacturing equipment module library and the like; the processor 301 is used for calling the computer program in the memory 302, and the processor executes the computer program to implement the method provided by the above method embodiments, for example, the processor executes the computer program to implement the following steps: a scene detection step, namely determining a scene detection result based on environment detection, and/or motion detection, and/or platform detection; a risk identification step, namely judging the availability of a navigation source through signal interference monitoring, navigation message authentication and spread spectrum code identity authentication based on the interference and deception attack of a radio navigation signal, and determining the authentication result of the navigation source; the method comprises the following steps of self-adaptive navigation strategy planning, wherein multi-dimensional credible verification is performed on data collected by a heterogeneous multi-source navigation sensor, wherein the credible verification comprises heterogeneous data consistency verification and historical data cross validation; and the navigation algorithm configuration is carried out by combining the scene detection result, the risk identification and the navigation source authentication result; a navigation calculation step, namely determining a navigation calculation result according to a positioning mode, a data processing model and an information fusion algorithm configured by a navigation algorithm, and outputting position, speed and time information; PNT application service step, based on application requirement, sending navigation resolving result to user; and performing credible PNT service process reproduction and service result verification on a credible PNT service workflow formed on the basis of the scene detection step, the risk identification step, the self-adaptive navigation strategy planning step, the navigation resolving step and the PNT application service step.
Based on the same inventive concept, another embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to perform the methods provided by the above method embodiments when executed by a processor, for example, the method includes determining a scene detection result based on environment detection, and/or motion detection, and/or platform detection; a risk identification step, namely judging the availability of a navigation source through signal interference monitoring, navigation message authentication and spread spectrum code identity authentication based on the interference and the deception attack of radio navigation signals, and determining the authentication result of the navigation source; the self-adaptive navigation strategy planning method comprises the steps of performing multi-dimensional credible verification on data collected by a heterogeneous multi-source navigation sensor, wherein the credible verification comprises heterogeneous data consistency verification and historical data cross verification; and the navigation algorithm configuration is carried out by combining the scene detection result, the risk identification and the navigation source authentication result; a navigation calculation step, namely determining a navigation calculation result according to a positioning mode, a data processing model and an information fusion algorithm configured by a navigation algorithm, and outputting position, speed and time information; PNT application service step, based on application requirement, sending navigation resolving result to user; and performing credible PNT service process reproduction and service result verification on a credible PNT service workflow formed on the basis of the scene detection step, the risk identification step, the self-adaptive navigation strategy planning step, the navigation resolving step and the PNT application service step.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. Based on the understanding, the above technical solutions substantially or otherwise contributing to the prior art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method of various embodiments or some parts of embodiments.
In addition, in the present invention, terms such as "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Moreover, in the present invention, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
Furthermore, in the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (4)
1. A trusted PNT service data tracing method based on workflow is characterized by comprising the following steps:
a scene detection step, namely determining a scene detection result based on environment detection, and/or motion detection, and/or platform detection;
a risk identification step, namely judging the availability of a navigation source through signal interference monitoring, navigation message authentication and spread spectrum code identity authentication based on the interference and deception attack of a radio navigation signal, and determining the authentication result of the navigation source;
the self-adaptive navigation strategy planning method comprises the steps of performing multi-dimensional credible verification on data collected by a heterogeneous multi-source navigation sensor, wherein the credible verification comprises heterogeneous data consistency verification and historical data cross verification; and the navigation algorithm configuration is carried out by combining the scene detection result, the risk identification and the navigation source authentication result;
a navigation calculation step, namely determining a navigation calculation result according to a positioning mode, a data processing model and an information fusion algorithm configured by a navigation algorithm, and outputting position, speed and time information;
PNT application service step, based on application requirement, sending navigation resolving result to user;
performing credible PNT service process reproduction and service result verification on a credible PNT service workflow formed by a scene detection step, a risk identification step, a self-adaptive navigation strategy planning step, a navigation resolving step and a PNT application service step;
establishing a trusted PNT service data tracing model based on a PROV model in a semantic expansion mode by taking the trusted PNT service workflow as an object; wherein the trusted PNT service data tracing model at least comprises: three basic building blocks of entities, activities and agents; the entities are divided into three subclasses of data, parameters and algorithm flows;
the data subclass in the entity is the original acquisition data, the intermediate data and the output result data in the PNT service;
the parameter subclass in the entity is a parameter and a binding value applied in the PNT service data processing process;
an algorithm flow subclass in the entity is a trusted PNT service workflow execution state and a processing flow, and a version information of a flow according to which a version attribute description activity is executed is added;
the activity refers to data acquisition and data processing involved in the trusted PNT service process, mType attribute description is added for distinguishing processing types, and an extended attribute is used for providing keywords to describe a specific processing process;
the agent is a provider of the entity, or an executor of the activity.
2. A trusted PNT service data tracing apparatus based on workflow, comprising:
the scene detection module is used for determining a scene detection result based on environment detection, and/or motion detection, and/or platform detection;
the risk identification module is used for judging the availability of the navigation source through signal interference monitoring, navigation message authentication and spread spectrum code identity authentication based on the interference and the deception attack of the radio navigation signal and determining the authentication result of the navigation source;
the self-adaptive navigation strategy planning module is used for carrying out multi-dimensional credible verification on data acquired by the heterogeneous multi-source navigation sensor, wherein the credible verification comprises heterogeneous data consistency verification and historical data cross verification; and the navigation algorithm configuration is carried out by combining the scene detection result, the risk identification and the navigation source authentication result;
the navigation calculation module is used for determining a navigation calculation result according to a positioning mode, a data processing model and an information fusion algorithm configured by a navigation algorithm and outputting position, speed and time information;
the PNT application service module is used for sending a navigation resolving result to a user based on an application requirement;
the tracing module is used for carrying out credible PNT service process reproduction and service result verification on the basis of a credible PNT service workflow consisting of the scene detection module, the risk identification module, the self-adaptive navigation strategy planning module, the navigation resolving module and the PNT application service module;
the model establishing module is used for establishing a credible PNT service data tracing model based on a PROV model in a semantic expansion mode by taking the credible PNT service workflow as an object; wherein the trusted PNT service data tracing model at least comprises: three basic building blocks of entities, activities and agents; the entities are divided into three subclasses of data, parameters and algorithm flows;
the data subclass in the entity is the original acquisition data, the intermediate data and the output result data in the PNT service;
the parameter subclass in the entity is a parameter and a binding value applied in the PNT service data processing process;
an algorithm flow subclass in the entity is a trusted PNT service workflow execution state and a processing flow, and a version information of a flow according to which a version attribute description activity is executed is added;
the activity refers to data acquisition and data processing involved in a trusted PNT service process, mType attribute description is added for distinguishing processing types, and an extended attribute is used for providing keywords to describe a specific processing process;
the agent is a provider of the entity, or an executor of the activity.
3. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the workflow-based trusted PNT service data tracing method of claim 1.
4. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the workflow-based trusted PNT service data tracing method of claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011578992.8A CN112788536B (en) | 2020-12-28 | 2020-12-28 | Workflow-based trusted PNT service data tracing method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011578992.8A CN112788536B (en) | 2020-12-28 | 2020-12-28 | Workflow-based trusted PNT service data tracing method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112788536A CN112788536A (en) | 2021-05-11 |
| CN112788536B true CN112788536B (en) | 2022-12-20 |
Family
ID=75752798
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011578992.8A Active CN112788536B (en) | 2020-12-28 | 2020-12-28 | Workflow-based trusted PNT service data tracing method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112788536B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3147691A1 (en) * | 2015-09-23 | 2017-03-29 | Nottingham Scientific Limited | Server-based geo-positioning systems |
| CN108874871A (en) * | 2018-04-25 | 2018-11-23 | 中国科学院光电研究院 | Real-time PNT service data source tracing method and device |
| CN109596119A (en) * | 2018-11-23 | 2019-04-09 | 中国船舶重工集团公司第七0七研究所 | Ship craft integrated PNT system and its monitoring method based on adaptive information fusion |
| CN110515109A (en) * | 2019-08-16 | 2019-11-29 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of method and device merging the autonomous PNT time based on multiple information sources |
| CN111060947A (en) * | 2019-12-30 | 2020-04-24 | 中国科学院光电研究院 | Navigation positioning method and device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10365376B2 (en) * | 2017-04-25 | 2019-07-30 | Iposi, Inc. | Protected positioning, navigation, or timing signals resistant to spoofing |
-
2020
- 2020-12-28 CN CN202011578992.8A patent/CN112788536B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3147691A1 (en) * | 2015-09-23 | 2017-03-29 | Nottingham Scientific Limited | Server-based geo-positioning systems |
| CN108874871A (en) * | 2018-04-25 | 2018-11-23 | 中国科学院光电研究院 | Real-time PNT service data source tracing method and device |
| CN109596119A (en) * | 2018-11-23 | 2019-04-09 | 中国船舶重工集团公司第七0七研究所 | Ship craft integrated PNT system and its monitoring method based on adaptive information fusion |
| CN110515109A (en) * | 2019-08-16 | 2019-11-29 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of method and device merging the autonomous PNT time based on multiple information sources |
| CN111060947A (en) * | 2019-12-30 | 2020-04-24 | 中国科学院光电研究院 | Navigation positioning method and device |
Non-Patent Citations (4)
| Title |
|---|
| Key Technologies Research of PNT System;Dongxia WANG等;《2020 European Navigation Conference (ENC)》;20200302;全文 * |
| PNT体系关键技术研究;王冬霞等;《数字通信世界》;20180401(第04期);全文 * |
| 用于定位导航授时微终端的SoC***设计;黎超等;《导航与控制》;20190405(第02期);全文 * |
| 芯片级原子钟辅助的惯性/卫星组合导航***欺骗检测方法;刘洋等;《中国惯性技术学报》;20191015(第05期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112788536A (en) | 2021-05-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11521022B2 (en) | Semantic state based sensor tracking and updating | |
| US11392733B2 (en) | Multi-dimensional event model generation | |
| Arslan et al. | Visualizing intrusions in dynamic building environments for worker safety | |
| Bajaj et al. | 4W1H in IoT semantics | |
| CN105637522A (en) | World-driven access control using trusted certificates | |
| CN111914673B (en) | Method and device for detecting target behavior and computer readable storage medium | |
| Gupta et al. | Decentralised control-based interaction framework for secure data transmission in internet of automated vehicles | |
| CN114430331A (en) | Network security situation sensing method and system based on knowledge graph | |
| CN116980162A (en) | Cloud audit data detection method, device, equipment, medium and program product | |
| Liu et al. | A provenance-aware virtual sensor system using the open provenance model | |
| Zappatore et al. | Semantic models for IoT sensing to infer environment–wellness relationships | |
| CN112788536B (en) | Workflow-based trusted PNT service data tracing method and device | |
| Cardinale et al. | Semantic framework of event detection in emergency situations for smart buildings | |
| CN109784525A (en) | Method for early warning and device based on day vacant lot integration data | |
| Arslan et al. | Spatio-temporal analysis of trajectories for safer construction sites | |
| Doulaverakis et al. | An approach to intelligent information fusion in sensor saturated urban environments | |
| CN116583891A (en) | Critical scene identification for vehicle verification and validation | |
| US20160203408A1 (en) | Systems and methods for a cloud-based artificial intelligence engine | |
| Mrazovic et al. | Mobics: Mobile platform for combining crowdsourcing and participatory sensing | |
| US11985224B2 (en) | Systems and methods for multi-domain information processing using an immutable ledger | |
| Rashid et al. | A survey on social-physical sensing: An emerging sensing paradigm that explores the collective intelligence of humans and machines | |
| Kuka et al. | Salsa streams: Dynamic context models for autonomous transport vehicles based on multi-sensor fusion | |
| Hamadi | Artificial intelligence applications in intrusion detection systems for unmanned aerial vehicles | |
| Rozhnov et al. | Hybrid Optimization Modeling Framework for Research Activities in Intelligent Data Processing | |
| CN111696290A (en) | Security decision method and device, computing equipment and computer storage medium |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |