WO2022175104A1 - Navigation lors d'une operation de leurrage d'un recepteur de signaux satellitaires - Google Patents
Navigation lors d'une operation de leurrage d'un recepteur de signaux satellitaires Download PDFInfo
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- WO2022175104A1 WO2022175104A1 PCT/EP2022/052631 EP2022052631W WO2022175104A1 WO 2022175104 A1 WO2022175104 A1 WO 2022175104A1 EP 2022052631 W EP2022052631 W EP 2022052631W WO 2022175104 A1 WO2022175104 A1 WO 2022175104A1
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- Prior art keywords
- navigation
- reference navigation
- predetermined threshold
- satellite
- decoy
- Prior art date
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- 238000000034 method Methods 0.000 claims abstract description 63
- 238000012937 correction Methods 0.000 claims abstract description 56
- 238000007619 statistical method Methods 0.000 claims abstract description 14
- 238000012360 testing method Methods 0.000 claims description 15
- 238000009825 accumulation Methods 0.000 claims description 14
- 238000004364 calculation method Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 description 39
- 238000005259 measurement Methods 0.000 description 8
- 238000009396 hybridization Methods 0.000 description 3
- 239000003550 marker Substances 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000001627 detrimental effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 206010000117 Abnormal behaviour Diseases 0.000 description 1
- 230000001594 aberrant effect Effects 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
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- 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
- G01S19/215—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service issues related to spoofing
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- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
- G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
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- 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
- G01S19/14—Receivers specially adapted for specific applications
-
- 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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K3/00—Jamming of communication; Counter-measures
- H04K3/20—Countermeasures against jamming
- H04K3/22—Countermeasures against jamming including jamming detection and monitoring
- H04K3/224—Countermeasures against jamming including jamming detection and monitoring with countermeasures at transmission and/or reception of the jammed signal, e.g. stopping operation of transmitter or receiver, nulling or enhancing transmitted power in direction of or at frequency of jammer
- H04K3/226—Selection of non-jammed channel for communication
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K3/00—Jamming of communication; Counter-measures
- H04K3/60—Jamming involving special techniques
- H04K3/65—Jamming involving special techniques using deceptive jamming or spoofing, e.g. transmission of false signals for premature triggering of RCIED, for forced connection or disconnection to/from a network or for generation of dummy target signal
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K3/00—Jamming of communication; Counter-measures
- H04K3/80—Jamming or countermeasure characterized by its function
- H04K3/90—Jamming or countermeasure characterized by its function related to allowing or preventing navigation or positioning, e.g. GPS
-
- 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
- G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
Definitions
- the present invention relates to the field of navigation and more precisely positioning and navigation by means in particular of the reception of satellite signals emitted by satellites belonging to a constellation of satellites distributed around the Earth.
- Satellite positioning (or GNSS for “Global Navigation Satellite System”) is implemented mainly by the GPS, Galileo, GLONASS and BeiDou systems.
- the invention relates more particularly to inertial navigation aided by the reception of satellite signals.
- Satellite positioning consists in receiving signals emitted by satellites whose position is known and deducing from the duration (or time of flight), between the emission and the reception of each of the signals, a so-called pseudo-distance measurement separating the receiver of satellite signals (commonly, and sometimes improperly, called GPS receivers) and each of the satellites from which the signal has been received (each signal comprising a satellite identifier and the time of transmission of the signal).
- GPS receivers a so-called pseudo-distance measurement separating the receiver of satellite signals (commonly, and sometimes improperly, called GPS receivers) and each of the satellites from which the signal has been received (each signal comprising a satellite identifier and the time of transmission of the signal).
- this positioning system which is relatively accurate, has spread widely and many vehicles are now equipped with a signal receiver satellites. Due to the fall in the cost of satellite signal receivers and consumer electronics, most people also have portable telephones of the smartphone (or ordiphone) type which are themselves provided with a satellite signal receiver.
- Such a device comprises an electronic processing unit connected to a radiofrequency signal transmitter to transmit fraudulent signals having the characteristics of satellite signals. More specifically, the electronic processing unit is arranged to generate, from a real initial position of a satellite signal receiver, fraudulent signals which, when picked up by the satellite signal receiver, lead the receiver satellite signals to calculate an erroneous position.
- the actual initial position of the satellite signal receiver can be detected for example by means of a laser rangefinder or communicated by the vehicle on board the satellite signal receiver as required by certain navigation rules, in particular air and maritime (ADS-B signals or AIS emitted by a vehicle to communicate its position to its neighbours).
- ADS-B signals or AIS air and maritime
- the fraudulent signals For the fraudulent signals to be taken into account by the satellite signal receiver, it is not enough to transmit the fraudulent signals with a higher power than the original satellite signals. It is also necessary that the fraudulent signals have the same code phase and a Doppler effect lying in the same range as those of the satellite signals previously received by the satellite signal receiver. If the first fraudulent signal received is consistent with the position calculated last by the satellite signal receiver and with the satellite signals received previously, and if the fraudulent signals subsequently received are consistent with each other, the fraudulent signals will be used by the satellite signal receiver as if they were real satellite signals and the error on the actual position of the satellite signal receiver cannot be detected.
- Hybrid inertial navigation systems are known which merge inertial positioning data originating from an inertial navigation unit and satellite positioning data originating from a satellite signal receiver.
- These navigation systems integrate one or more Kalman filters arranged so that the hybrid navigation is readjusted on the satellite positioning data.
- the Kalman filter is protected by an innovation test to detect outliers and reject them.
- the fraudulent signals have enough coherence, then they can satisfy this test of innovation and it is therefore possible to cause the hybrid navigation to follow the lured position.
- it is necessary to set a relatively high detection threshold, which increases the risk of deception.
- it is the satellite positioning data that makes it possible to compensate for the errors of the inertial positioning data over the long term so that fraudulent signals would cause a navigation error despite the hybridization of the satellite positioning data with inertial positioning data.
- the object of the invention is in particular to detect a decoy operation.
- a method of navigation by means of a satellite signal receiver on board a vehicle comprising an electronic navigation unit connected to the satellite signal receiver and to an inertial positioning unit for calculating a operational navigation hybridized from inertial positioning data and satellite positioning data by applying an innovation test, the method comprising the steps of: - calculating a first reference navigation, hybridized from inertial positioning data with corrections positions determined from satellite positioning data;
- the method according to the invention makes it possible to detect an exposure of a receiver of satellite signals to a decoy operation. It is therefore possible to alert the user of the existence of this spoofing operation, detect the end of the exposure to the fraudulent signals and relatively quickly restore nominal browsing performance.
- the detection of the decoy operation by statistical analysis of the position errors is relatively fast and reliable.
- the operational navigation and the first reference navigation are distinct from each other and the first reference navigation is determined without an innovation test.
- the method of the invention makes it possible to have both precise operational navigation in the absence of deception, and particularly effective detection of any attempt at deception.
- the statistical analysis comprises the accumulation of the position corrections provided by the first reference navigation, and the comparison of this accumulation with a first predetermined threshold to discriminate the existence of a decoy operation and the absence of a decoy operation.
- the position corrections In the absence of spoofing, the position corrections essentially result from the noise of the satellite positioning data. This noise is random and of zero average so that, in the absence of decoy, the average of the position corrections accumulated over a predetermined duration is substantially zero.
- the statistical analysis comprises the calculation of a correlation coefficient between the latitude position corrections and the longitude position corrections provided by the first reference navigation, and the comparison of the correlation coefficient with a second predetermined threshold to discriminate the existence of a decoy operation and the absence of a decoy operation.
- the statistical analysis comprises the determination of successive directions of correction from the position corrections in latitude and the corrections of position in longitude provided by the first reference navigation, the calculation of a coefficient of variability of the correction directions and the comparison of the coefficient of variability with a third predetermined threshold to discriminate the existence of a decoy operation and the absence of a decoy operation.
- the corrections are random, as should be the case in the absence of decoy. If the corrections are random, the latitude position corrections are uncorrelated from the longitude position corrections (second mode of implementation) and the successive directions of corrections exhibit great variability between them (third mode of implementation).
- the method further comprises the steps of:
- the method comprises the step of determining a difference between the speed resulting from the first reference navigation and the speed resulting from the second reference navigation and of comparing this difference with a predetermined threshold. This makes it possible to detect a decoy very simply and very reliably.
- the method comprises the steps of estimating, from the first reference navigation, at least one error estimate of at least one inertial sensor of the inertial positioning unit and compare the estimate to a predetermined threshold.
- the invention also relates to an electronic navigation unit programmed to implement the above method.
- Figure 1 is a schematic view of a device for implementing the method of the invention during a decoy operation
- Figure 2 is a schematic view of the trajectories provided by the various navigations, in a horizontal plane.
- the invention is here described in application to an aircraft 1 equipped with a hybrid navigation system generally designated at 10 comprising a satellite signal receiver 20 and a central inertial positioning 30 which are connected to an electronic navigation unit 40.
- a hybrid navigation system generally designated at 10 comprising a satellite signal receiver 20 and a central inertial positioning 30 which are connected to an electronic navigation unit 40.
- the satellite signal receiver 20 is arranged, in a manner known per se, to receive satellite positioning signals emitted by satellites of a constellation of satellites S of at least one satellite positioning system (GNSS) - such as GPS, Galileo, GLONASS and BeiDou - and to calculate, from these satellite signals, satellite positioning data such as pseudo-range, phase measurement, latitude, longitude, altitude, and deviation of time.
- GNSS satellite positioning system
- Such a receiver is known per se.
- the inertial unit 30 comprises an inertial measurement unit comprising inertial sensors, here conventionally three accelerometers arranged along the axes of a measurement marker and three gyrometers arranged to measure rotations of this measurement marker relative to a reference marker.
- the inertial positioning unit 30 further comprises, in a manner known per se, an electronic processing unit (processor or other electronic circuit capable of calculation) arranged to determine inertial positioning data, such as position data, d attitude and speeds, from the measurement signals produced by the inertial sensors. Such a plant is known per se.
- the electronic navigation unit 40 comprises one or more processors and a memory containing at least one program containing instructions implementing the method of the invention.
- the electronic navigation unit 40 is programmed to calculate at instants the coordinates (latitude and longitude) of the waypoint of the vehicle are predetermined using the positioning data provided by the satellite signal receiver 20 and the inertial measurement unit 30 at each of these instants. All of these points form a route or a trajectory, generally called “navigation”, which must coincide as closely as possible with the actual trajectory followed by the vehicle.
- the electronic navigation unit 40 calculates hybridized primary operational navigation from the inertial positioning data and the satellite positioning data.
- Hybridized navigation can be based on a loose coupling in position (and/or velocity) or a tight coupling in pseudo-distance (and/or delta range).
- the program implements a Kalman filter which comprises a bank of filters and which is protected by an innovation test aimed at verifying the consistency of the positioning satellite data with each other.
- the innovation test is known in itself and makes it possible to detect and reject aberrant measurements.
- the primary operational navigation is used in nominal mode for piloting the vehicle in order to make the vehicle follow a predetermined route.
- the method of the invention aims to detect a decoy operation during which a decoy device D, here on the ground, knowing the real position of the aircraft 1, emits fraudulent satellite signals intended to be received by the satellite signal receiver 20 and to be taken into account in the calculation of the hybrid navigation instead of the authentic satellite signals to bring the aircraft 1 on a real trajectory different from that indicated by the navigation system (that is to say different from the primary operational navigation).
- the structure and operation of the decoy device D are known per se and will not be further described here.
- the electronic navigation unit 40 is also arranged to execute decoy detection processes, processes which are advantageously combined here.
- the electronic navigation unit 40 calculates another navigation, namely a first reference navigation, hybridized from the data positioning inertials with position corrections determined from positioning satellite data.
- the first reference navigation is thus readjusted on the satellite positioning data.
- the first reference navigation is not an operational navigation: it only serves to detect the decoy. To force the first reference navigation to be sensitive (or prone) to spoofing, the innovation test is disabled.
- the first two detection processes implemented require:
- the electronic navigation unit 40 periodically determines a position correction between a purely inertial position calculated from the inertial positioning data and a purely satellite position calculated from positioning satellite data. It is these successive position corrections which are recovered for the purpose of decoy detection.
- the corrections can be maintained as they are estimated in the case of an open loop filter, or applied at each instant to the calculated inertial navigation in the case of a closed loop filter.
- the statistical analysis comprises the accumulation of the position corrections provided by the first reference navigation.
- the accumulation of the position corrections is here performed over a sliding time window, for example of a duration of three minutes. It will be noted that the accumulation of the corrections advantageously provides a relevant image of the positioning error caused by the decoy when the latter is present.
- This accumulation of position corrections is then compared to a first predetermined threshold.
- the first threshold is set to correspond to the acceptable upper limit for the calculated aggregate to correspond to that of random position errors taking into account an acceptable probability of false alarm and an acceptable probability of non-detection. Account is also taken of the statistical characteristics (average and standard deviation) normal values considered, that is to say in the absence of spoofing.
- the statistical analysis comprises the calculation of a correlation coefficient between the latitude position corrections and the longitude position errors supplied by the first reference navigation.
- the correlation coefficient is then compared to a second predetermined threshold.
- the second threshold is set to correspond to the acceptable upper limit for the calculated correlation coefficient to correspond to that of random position correction taking into account an acceptable probability of false alarm and an acceptable probability of non-detection.
- the correlation coefficient is greater than the second threshold.
- the statistical analysis comprises the determination of successive correction directions from the latitude position corrections and the longitude position corrections provided by the first reference navigation.
- a coefficient of variability of the correction directions is then calculated and compared with a third predetermined threshold.
- the coefficient of variability here is the variance.
- the third threshold is set to correspond to the lower limit acceptable for the calculated coefficient of variability to correspond to that of random position errors taking into account a probability acceptable false alarm and an acceptable probability of non-detection.
- the electronic navigation unit 40 calculates a second reference navigation solely from the inertial positioning data.
- the second reference navigation can result from the implementation of an unregistered Kalman filter.
- the electronic navigation unit 40 compares an output from the first reference navigation and an output from the second reference navigation and deduces therefrom the existence or absence of decoy operation of the satellite signal receiver.
- the Kalman filter is parameterized to readjust the navigation on the satellite data so that, in the event of decoy, the Kalman filter will produce an abnormal modeling of the errors of the inertial sensors.
- the first reference navigation is forced to follow the satellite data even if they are erroneous. Having the first reference navigation and the second reference navigation makes it possible to compare the dynamics of inertial navigation with the dynamics of hybridized navigation which is forced to follow satellite data.
- the electronic navigation unit 40 is arranged to determine a difference between the speed resulting from the first reference navigation and the speed resulting from the second reference navigation and to compare this difference with a predetermined threshold.
- the predetermined threshold is equal to a multiple of a standard deviation calculated from a law of distribution of speed deviations, the multiple preferably being 4.
- the electronic navigation unit 40 is arranged to estimate from the first reference navigation at least one error estimate of at least one inertial sensor of the non-satellite positioning unit and comparing the estimate to a predetermined threshold.
- the electronic navigation unit 40 is here arranged to estimate for the first reference navigation at least one gyrometric drift and to compare the estimated gyrometric drift with a predetermined threshold. In this case, three gyrometric drifts are estimated here:
- the predetermined threshold is equal to a multiple of a standard deviation calculated from a law of distribution of the drift, the multiple preferably being equal to 4.
- the primary operational navigation (which implements an innovation test) is monitored in order to ensure that the innovation test does not report a rejection rate higher than a predetermined threshold representative of an abnormality.
- the detection processes When one of the detection processes reveals a spoofing operation, it returns an alert. It will be noted that the detection processes are executed simultaneously by the same computer program so that all the detection processes are active simultaneously and independently.
- the first and the second process allow detection of a spoofing operation more quickly than the other processes so that the latter will most often be used to confirm the detection.
- HPL horizontal protection limit
- the second process is normally faster than the first process.
- the method of the invention in this particular embodiment, combines the results of the detection processes to assess the credibility of the threat.
- the electronic navigation unit 40 can be programmed to emit a credible threat alert as soon as one of the detection processes has identified abnormal behavior.
- the alert can also have different levels depending on whether: the fourth detection process has issued an alert for at least one of the inertial sensors monitored; the fourth detection process issued an alert simultaneously for several of the monitored inertial sensors; the fourth detection process issued an alert simultaneously for all monitored inertial sensors; primary operational navigation (which implements an innovation test) reports an abnormal rejection rate.
- the electronic navigation unit 40 is arranged to establish a threat score which is incremented by 1 each time one of the above criteria is satisfied. The score can therefore be between 1 and 7. and;
- a score equal to 1 or 2 indicates a threat that is not very credible; a score equal to 3 or 4 indicates a potential threat; a rating of at least 5 indicates the credible presence of a threat. It should be noted that it is important to keep operational navigation distinct from the two reference navigations because the receiver of satellite signals may be subject to a decoy operation for several tens of minutes: it would therefore not be possible to rely solely on inertial positioning data to ensure navigation.
- the invention here also provides for correcting the operational navigation during the decoy operation to obtain emergency operational navigation.
- the calculation of the standby operational navigation could be limited to readjusting the primary operational navigation by using the accumulation of position corrections. However, the speed error induced by the decoy operation would not be corrected.
- the emergency operational navigation is based on the second reference navigation and the calculation of the emergency operational navigation comprises the steps of:
- the trajectory Nop resulting from the primary operational navigation remains close to the true trajectory until the start tl of the decoy operation: from this moment, the trajectory Nop gradually moves away from the real trajectory Tv, just like the trajectory Nréfl resulting from the first reference navigation moves away from the real trajectory Tv from the start of the decoy operation.
- emergency operational navigation begins: the position Pin calculated from the inertial positioning data at the time of detection of the decoy operation is readjusted to the position P' which corresponds to the position provided at the same instant by the primary operational navigation. The position P' is then corrected according to the accumulation of the position corrections ⁇ Dx calculated from the first reference navigation to obtain a starting position Pd of the backup operational navigation. The subsequent positions of the trajectory Nop′ resulting from the emergency operational navigation are calculated from the starting position Pd and the speed information provided by the second reference navigation.
- the second reference navigation serves on the one hand to detect the decoy operation, then forms, after resetting, the emergency operational navigation.
- This readjustment allows emergency operational navigation to provide a starting position Pd close to the real position of the vehicle and the positions subsequently defined are relatively close to the real position of the vehicle because they have been calculated from the readjusted position , using non-decoyed speed information (since consisting of inertial positioning data which is not affected by the decoy operation).
- Emergency operational navigation is only used here for the duration Dld during which the decoy operation is detected.
- the position provided by the first reference navigation is greatly offset with respect to the previous positions provided by the first reference navigation (one should say abnormally offset taking into account the speed and the maneuvering capacities of the vehicle).
- This sudden shift in position visible at E in figure 2: we also speak of a step in the trajectory Nrefl
- Nrefl a step in the trajectory Nrefl
- the use of the emergency operational navigation is interrupted when the trajectory provided by the first reference navigation is suddenly brought back to the trajectory Nop′ resulting from the emergency operational navigation.
- the position provided by the first reference navigation approaches all of a sudden the position provided by the standby operational navigation by creating a step in the trajectory provided by the first reference navigation.
- the decoy operation is considered to be finished: the emergency operational navigation is abandoned in favor of the primary operational navigation which is again used to guide the vehicle.
- the vehicle's navigation system may be different from that described.
- the vehicle can be equipped with several inertial units, each providing inertial navigation. Provision may be made to use each of these inertial navigations as reference navigation for the detection of spoofing: there will therefore be as many distinct detection processes which will be combined to ensure consolidated detection. Alternatively, only part of the inertial navigations can be used as reference navigation. As a further variant, it is possible to use an average of all or part of these inertial navigations to form a reference navigation for the detection of spoofing.
- the electronic navigation unit can be integrated into the inertial positioning unit: a single computer can then be used.
- the operational navigation (with innovation test) can be used as the first reference navigation, thus simplifying the architecture of the solution and detrimental to a degradation of the detection performance.
- the operational navigation and the first reference navigation are in fact one and the same, the operational navigation having a dual function: enabling the vehicle to be guided and serving as a basis for the calculation of the various indicators (accumulation and direction of the corrections).
- the first reference navigation is distinct from the operational navigation and does not implements an innovation test to be more susceptible to deception.
- GNSS GNSS
- the predetermined speed threshold may be different from that mentioned above and for example equal to: - a multiple of a standard deviation calculated from a law of distribution of speed deviations, the multiple preferably being 3; a predetermined speed difference value, preferably approximately 3 meters per second.
- the electronic navigation unit 40 can be arranged to estimate for the first reference navigation at least one accelerometric bias and compare the estimated accelerometric bias with a predetermined threshold. Independently of the other processes, the method may include the steps of:
- the method may include the steps of:
- the invention applies to the use of only one of these navigation processes, or of two or more in combination.
- the program can implement one or more Kalman filters.
- the scoring system may differ from that described.
- the score can vary from 1 to N with: a score lower than N/3 to indicate a threat that is not very credible a score between N/3 and 2.N /3 to indicate a potential threat; a score above 2.N/3 to indicate the credible presence of a threat.
- Other notation choices are possible in order to limit the risks of false alarm or non-detection.
- Position corrections can be accumulated for a period different from that mentioned.
- the accumulation of the position corrections can be performed from the powering up of the electronic navigation unit and no longer over a sliding time window.
- the inverse of the variance can be used as the coefficient of variability and compared to a third threshold: the existence of a spoofing operation is detected if said coefficient is greater than the threshold (and no longer less than the threshold as when uses the variance directly). This remark is valid for all the values compared to a threshold.
- the invention can be implemented without recourse to emergency operational navigation.
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
Description
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Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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CN202280015858.8A CN116829987A (zh) | 2021-02-19 | 2022-02-03 | 卫星信号接收机欺骗操作期间的导航 |
EP22707352.5A EP4295176A1 (fr) | 2021-02-19 | 2022-02-03 | Navigation lors d'une operation de leurrage d'un recepteur de signaux satellitaires |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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FRFR2101629 | 2021-02-19 | ||
FR2101629A FR3120133B1 (fr) | 2021-02-19 | 2021-02-19 | Navigation lors d'une opération de leurrage d'un récepteur de signaux satellitaires |
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WO2022175104A1 true WO2022175104A1 (fr) | 2022-08-25 |
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PCT/EP2022/052631 WO2022175104A1 (fr) | 2021-02-19 | 2022-02-03 | Navigation lors d'une operation de leurrage d'un recepteur de signaux satellitaires |
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EP (1) | EP4295176A1 (fr) |
CN (1) | CN116829987A (fr) |
FR (1) | FR3120133B1 (fr) |
WO (1) | WO2022175104A1 (fr) |
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US20180088241A1 (en) * | 2016-09-27 | 2018-03-29 | Bae Systems Information And Electronic Systems Integration Inc. | Gps jammer & spoofer detection |
EP3680617A1 (fr) * | 2019-01-11 | 2020-07-15 | GE Aviation Systems Limited | Restauration de performance de navigation pour un système de navigation |
-
2021
- 2021-02-19 FR FR2101629A patent/FR3120133B1/fr active Active
-
2022
- 2022-02-03 WO PCT/EP2022/052631 patent/WO2022175104A1/fr active Application Filing
- 2022-02-03 CN CN202280015858.8A patent/CN116829987A/zh active Pending
- 2022-02-03 EP EP22707352.5A patent/EP4295176A1/fr active Pending
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20180088241A1 (en) * | 2016-09-27 | 2018-03-29 | Bae Systems Information And Electronic Systems Integration Inc. | Gps jammer & spoofer detection |
EP3680617A1 (fr) * | 2019-01-11 | 2020-07-15 | GE Aviation Systems Limited | Restauration de performance de navigation pour un système de navigation |
Non-Patent Citations (1)
Title |
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YANG LIU ET AL: "Impact Assessment of GNSS Spoofing Attacks on INS/GNSS Integrated Navigation System", SENSORS,, vol. 18, 1 January 2018 (2018-01-01), pages 1433, XP002800173 * |
Also Published As
Publication number | Publication date |
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FR3120133A1 (fr) | 2022-08-26 |
FR3120133B1 (fr) | 2023-03-17 |
EP4295176A1 (fr) | 2023-12-27 |
CN116829987A (zh) | 2023-09-29 |
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