基于EWMA控制图抗差估计的欺骗干扰检测算法

doi:10.7527/S1000-6893.2023.29655

Abstract

Abstract:

The induced spoofing interference makes the airborne receiver deviate from the real position when it is not easy to be detected， which poses a threat to the safety of civil aviation flight. The traditional innovation sequence detection algorithm has the problem of spoofing detection delay and cannot detect the end time of spoofing in time. To solve this problem， a spoofing detection algorithm based on an Exponentially Weighted Moving Average （EWMA） control chart and robust estimation is proposed. The innovation sequence output by the tightly-coupled integrated navigation system is taken as the sample of EWMA control chart. The historical moment statistics and the current signal sequence weighting are employed to construct a test statistic following a Gaussian distribution to detect spoofing interference and identify the spoofed satellite. At the same time， the gain matrix is adjusted dynamically by using the robust estimation to reduce the influence of spoofing on the innovation sequence， and spoofing detection speed is accelerated by changing the parameters of the equivalent weight function. The simulation results show that comparing with the traditional innovation sequence detection algorithm， the proposed algorithm can obviously shorten the detection time of small mutation spoofing and slow change spoofing， and can detect the spoofing end time in time.

Key words: integrated navigation, spoofing detection, EWMA control chart, innovation sequence, robust estimation

CLC Number:

V249.3

Lunlong ZHONG, Wenjing YUE, Xueyan LI. Spoofing interference detection algorithm based on EWMA control chart and robust estimation[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(15): 329655-329655.

Figures/Tables 17

Fig.1

Fig.2

Table 1

Table 2

Parameters of sensors

传感器	参数	数值
GNSS	遮蔽角/（°）	10
	信号空间传播误差标准差/m	1
	码跟踪误差标准差/m	1
	距离率跟踪误差标准差/（m·s^-1）	0.02
IMU	陀螺仪零偏/（（°）·h^-1）	（-0.000 9，0.001 3， -0.000 8）
	陀螺仪随机噪声/（（°）· $h - 12$ ）	0.002
	加速度计零偏/mg	（30，-45，26）
	加速度计随机噪声/（mg·Hz^-1）	20

Table 2

Fig.3

Fig.4

Fig.5

Table 3

Fig.6

Fig.7

Fig.8

Table 4

Fig.9

Fig.10

Fig.11

Fig.12

Fig.13

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实验编号	施加卫星	突变欺骗量/ m	缓变欺骗量/ （m·s^-1）	施加时间/s
1	1	10、25、35	0	200~350
2	1	0	0.2、0.5、0.7	200~350
3	1	0~40	0.1~1.8	200~350
4	1、4	0	0.2	200~350
5	1、4	0	0.2	200~350

伪距欺骗量/m	突变欺骗检测时间/s
	开始			结束
	M1	M2	M3	M1	M2	M3
10	94.51	1.5	1.5		1.5	1.5
25	8.51	0.5	0.5		10	10
35	4.01	0	0		12	12

伪距欺骗速率/（m·s^-1）	缓变欺骗检测时间/s
	开始			结束
	M1	M2	M3	M1	M2	M3
0.2	93	21	21		9	9
0.5	46	10	10		16	16
0.7	36	8.5	8.5		18	18

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Spoofing interference detection algorithm based on EWMA control chart and robust estimation

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