GNSS欺骗式干扰检测综述

doi:10.3778/j.issn.1002-8331.2201-0055

摘要/Abstract

摘要： 近年来，随着卫星导航系统在军事监测、精细农业、交通监控、资源勘探、灾害评估等领域的广泛应用，提高卫星导航系统的安全性和鲁棒性成为研究的热点。介绍了卫星导航欺骗式干扰的原理与分类，根据卫星信号从生成到最终实现定位导航这一过程和基于统计学层面将当前的欺骗式干扰检测技术分成基于导航数据信息、基于空间处理、基于射频前端处理、基于基带数字信号处理、基于定位导航运算结果和基于机器学习等六大类，并对每类采用的检测方法进行性能对比，从实时检测和综合检测两个方面对未来的欺骗式干扰检测进行展望。

关键词: 卫星导航, 欺骗式干扰检测, 欺骗式干扰, 安全性, 导航数据

Abstract: In recent years, with the wide application of satellite navigation systems in military monitoring, precision agriculture, traffic monitoring, resource exploration, disaster assessment and other fields, improving the safety and robustness of satellite navigation systems has become a research hotspot. This paper first introduces the principle and classification of satellite navigation spoofing jamming. According to the process from satellite signal generation to the final realization of positioning and navigation and based on statistics, the current spoofing interference detection technology is divided into six categories：based on navigation data information, based on spatial processing, based on RF front-end processing, based on baseband digital signal processing, based on positioning and navigation operation results and based on machine learning, and the performance of the detection methods used in each category is compared. Finally, the future spoofing interference detection is prospected from two aspects of real-time detection and comprehensive detection.

Key words: satellite navigation, spoofing jamming detection, spoofing jamming, safety, navigation data

周彦, 王山亮, 杨威, 易炯, 张世仓, 蔡成林. GNSS欺骗式干扰检测综述[J]. 计算机工程与应用, 2022, 58(11): 12-22.

ZHOU Yan, WANG Shanliang, YANG Wei, YI Jiong, ZHANG Shicang, CAI Chenglin. Overview of GNSS Spoofing Jamming Detection[J]. Computer Engineering and Applications, 2022, 58(11): 12-22.

参考文献

[1] HOFMANN?WELLENHOF B，LICHTENEGGER H，WASLE E.GNSS-global navigation satellite systems：GPS，GLONASS，Galileo and more[M].New York：Springer，2007.
[2] CAI B G，WU B Q，LU D B.Survey of performance evaluation standardization and research methods on GNSS-based localization for railways[J].Chinese Journal of Electronics，2020，29（1）：22-33.
[3] WU Y H，ZHENG M H，HE W，et al.Intelligent vehicle safety system based on BeiDou satellite navigation system[J].IET Intelligent Transport Systems，2019，13（6）：967-974.
[4] 徐纵，黄陆明，李博，等.采用北斗卫星导航系统的超高压变电站GIS变形监测精度分析[J].浙江电力，2021，40（4）：101-107.
XU Z，HUANG L M，LI B，et al.Analysis of GIS deformation monitoring accuracy in EHV substation using Beidou satellite navigation system[J].Zhejiang Electric Power，2021，40（4）：101-107.
[5] 徐明.北斗卫星导航系统在金融押运行业的设计与实践[J].金融科技时代，2017（9）：41-43.
XU M.Design and practice of Beidou satellite navigation system in financial escort industry[J].Fintech Era，2017（9）：41-43.
[6] 卢天增，甄卫民，马宝田，等.基于GNSS与网络通信融合定位的隔离者管理系统的设计与实现[J].全球定位系统，2021，46（4）：45-51.
LU T Z，ZHEN W M，MA B T，et al.Design and implementation of isolator management system based on GNSS and network communication fusion positioning[J].GNSS World of China，2021，46（4）：45-51.
[7] 姚洋，郭承军.北斗卫星导航系统在精准农业中的应用研究[C]//第十二届中国卫星导航年会论文集——S01卫星导航行业应用，2021：110-113.
YAO Y，GUO C J.Research on the application of Beidou satellite navigation system in precision agriculture[C]//Proceedings of the 12th China Satellite Navigation Conference—S01 Satellite Navigation Industry Application，2021：110-113.
[8] 胡鸿.北斗卫星导航系统和高分一号在天保工程森林管护中的应用研究[D].北京：中国林业科学研究院，2018.
HU H.Research on application of BDS and GF-1 in forest management and protection of natural forest protection project[D].Beijing：Chinese Academy of Forestry，2018.
[9] “北斗”应用之现代牧业[J].太空探索，2017（4）：17.
“Beidou” application of modern animal husbandry[J].Space Exploration，2017（4）：17.
[10] 王超，康萌，张宇，等.北斗导航技术在渔业生产定位中的运用[J].黑龙江水产，2020，39（6）：26-27.
WANG C，KANG M，ZHANG Y，et al.Application of Beidou navigation technology in fishery production positioning[J].Northern Chinese Fisherise，2020，39（6）：26-27.
[11] O’HANLON B W，PSIAKI M L，BHATTI J A，et al.Real-time GPS spoofing detection via correlation of encrypted signals[J].Navigation，2014，60（4）：267-278.
[12] 谢钢.GPS原理与接收机设计[M].北京：电子工业出版社，2009：1-13.
XIE G.Principles of GPS and receiver design[M].Beijing：Publishing House of Electronics Industry，2009：1-13.
[13] SCOTT L.Anti-spoofing & authenticated signal architecture for civil navigation systems[C]//16th International Technical Meeting of the Satellite Division of the Institute of Navigation（ION GPS/GNSS 2003），Portland，OR，2003.
[14] LO S，LORENZO D D，ENGE P，et al.Signal authentification：a secure civil GNSS for today[J].Inside GNSS，2009，4（5）：30-39.
[15] POZZOBON O，GAMBA G，CANALE M，et al.Supersonic GNSS authentication codes[C]//Proceedings of the 27th International Technical Meeting of the Satellite Division of The Institute of Navigation（ION GNSS+ 2014），Tampa，Florida，2014：2862-2869.
[16] KUHN M G.An asymmetric security mechanism for navigation signals[C]//International Workshop on Information Hiding.Berlin，Heidelberg：Springer，2004：239-252.
[17] MARGARIA D，MOTELLA B，ANGHILERI M，et al.Signal structure-based authentication for civil GNSSs：recent solutions and perspectives[J].IEEE Signal Processing Magazine，2017，34（5）：27-37.
[18] KERNS J，WESSON K D，HUMPHREYS T E.A blueprint for civil GPS navigation message authentication[C]//2014 IEEE/ION Position，Location and Navigation Symposium-PLANS 2014，2014：262-269.
[19] 申成良，郭承军.民用GNSS信号电文加密认证技术研究[C]//第九届中国卫星导航学术年会论文集——S03卫星导航信号及抗干扰技术，2018：1-7.
SHEN C L，GUO C J.Research on structure-based authentication approaches for civil GNSS signal[C]//Proceedings of the 9th China Satellite Navigation Conference—S03 Satellite Navigation Signal and Anti-jamming Technology，2018：1-7.
[20] GHORBANI K，OROUJI N，MOSAVI M R.Navigation message authentication based on one-way Hash chain to mitigate spoofing attacks for GPS L1[J].Wireless Personal Communications，2020，113（4）：1743-1754.
[21] FERNANDEZ-HERNANDEZ I，RIJMEN V，SECO-GRANADOS G，et al.A navigation message authentication proposal for the Galileo open service[J].Navigation，2016，63（1）：85-102.
[22] WESSON K，ROTHLISBERGER M，HUMPHREYS T.Practical cryptographic civil GPS signal authentication[J].Journal of the Institute of Navigation，2012，59（3）：1-10.
[23] WU Z，ZHANG Y，LIU R.BD-II NMA&SSI：an scheme of anti-spoofing and open BeiDou II D2 navigation message authentication[J].IEEE Access，2020，8：23759-23775.
[24] 郭军，孙家奇，李顶伦.一种新型GNSS加密认证方案的分析与设计[J].通讯世界，2020，27（6）：125-126.
GUO J，SUN J Q，LI D L.Analysis and design of a new GNSS encryption authentication scheme[J].Communication World，2020，27（6）：125-126.
[25]　JAFARNIA-JAHROMI A，BROUMANDAN A，NIELSEN J，et al.GPS vulnerability to spoofing threats and a review of anti spoofing techniques[J].International Journal of Navigation and Observation，2012，2012：1-16.
[26] NIELSEN J，BROUMANDAN A，LACHAPELLE G.Spoofing detection and mitigation with a moving handheld receiver[J].GPS World，2010，21：27-33.
[27] BROUMANDAN A，JAFARNIA-JAHROMI A，DEHGHANIAN V，et al.GNSS spoofing detection in handheld receivers based on signal spatial correlation[C]//Proceedings of the 2012 IEEE/ION Position，Location and Navigation Symposium，2012：479-487.
[28] 张鑫，陈华明，黄仰博，等.利用旋转天线载波相位双差进行欺骗干扰检测技术[J].武汉大学学报（信息科学版），2016，41（4）：529-534.
ZHANG X，CHEN H M，HUANG Y B，et al.Spoofing detection technique based on carrier phase double difference of spin-antenna[J].Geomatics and Information Science of Wuhan University，2016，41（4）：529-534.
[29] 张鑫.卫星导航欺骗干扰信号仿真与检测关键技术研究[D].北京：国防科学技术大学，2014.
ZHANG X.Research on key technologies of satellite navigation spoofing signal simulation and spoofing detection[D].Beijing：National University of Defense Technology，2014.
[30] ONG J，SO H.Direction of arrival estimation of GNSS signal using dual antenna[J].Journal of Positioning，Navi-gation，and Timing，2020，9（3）：215-220.
[31] CHEN J J，XU T，YUAN H.A new GNSS spoofing detection method using two antennas[J].IEEE Access，2020，8：110738-110747.
[32] ZHANG J Q，CUI X W，XU H L，et al.A two-stage interference suppression scheme based on antenna array for GNSS jamming and spoofing[J].Sensors，2019，19（18）：3870-3895.
[33] FAN G W，GAN X L，YU B G，et al.Adaptive spoofing suppression algorithm for GNSS based on multiple antennas array[J].Sensors，2020，20（4）：21-30.
[34] YANG Q，ZHANG Y，TANG C K.A combined anti jamming and antispoofing algorithm for GPS Arrays[J].International Journal of Antennas and Propagation，2019（8）：1-9.
[35] LEE Y S，YEOM J S，NOH J H，et al.A novel GNSS spoofing detection technique with array antenna-based multi-PRN diversity[J].Journal of Positioning Navigation and Timing，2021，10（3）：169-177.
[36] KANG C H，KIM S Y，PARK C G.Adaptive complex-EKF-based DOA estimation for GPS spoofing detection[J].IET Signal Processing，2018，12（2）：174-181.
[37] AKOS D M.Who’s afraid of the spoofer? GPS/GNSS spoofing detection via automatic gain control（AGC）[J].Navigation，2012，59（4）：281-290.
[38] WEN H，YIH-RU P，HUANG J，et al.Countermeasures for GPS signal spoofing[C]//Proceedings of the 18th International Technical Meeting of the Satellite Division of the Institute of Navigation（ION GNSS’05），Long Beach，Calif，USA，2005：1285-1290.
[39] JAHROMI A J，BROUMANDAN A，NIELSEN J，et al.GPS spoofer countermeasure effectiveness based on signal strength，noise power，and C/N0 measurements[J].International Journal of Satellite Communications and Networking，2012，30（4）：181-191.
[40] HU Y，BIAN S，CAO K，et al.GNSS spoofing detection based on new signal quality assessment model[J].GPS Solutions，2018，22（1）：1-13.
[41] ELEZI E，?ANKAYA G，BOYACI A，et al.A detection and identification method based on signal power for different types of electronic jamming attacks on GPS signals[C]//2019 IEEE 30th Annual International Symposium on Personal，Indoor and Mobile Radio Communications（PIMRC），2019：1-5.
[42] DEHGHANIAN V，NIELSEN J，LACHAPELLE G.GNSS spoofing detection based on receiver C/N0 estimates[C]//Proceedings of International Technical Meeting of the Satellite Division of the Institute of Navigation，2012：2875-2884.
[43] 张伦东，张超，高扬骏.卫星导航欺骗及检测（二）：基于接收机改进的欺骗检测[J].导航定位学报，2021，9（4）：1-10.
ZHANG L D，ZHANG C，GAO Y J.GNSS spoofing and detection（[Ⅱ]）：GNSS spoofing detection technology based on specially adapted receivers[J].Journal of Navigation and Positioning，2021，9（4）：1-10.
[44] PHELTS R E.Multi correlator techniques for robust mitigation of threats to GPS signal quality[D].Stanford University，2001.
[45] LI J Z，ZHU X W，OUYANG M J，et al.Research on multi-peak detection of small delay spoofing signal[J].IEEE Access，2020，8：151777-151787.
[46] 张国利，丁继成，张尧.基于GNSS信号时延特征的转发式欺骗干扰检测算法[J].无线电工程，2019，49（7）：626-630.
ZHANG G L，DING J C，ZHANG Y.Research on repeater deception jamming detection algorithm based on GNSS signal delay characteristics[J].Radio Engineering，2019，49（7）：626-630.
[47] 王文益，龚婧，王金铭.基于SCB方差的GNSS欺骗式干扰检测算法[J].系统工程与电子技术，2021，43（8）：2254-2262.
WANG W Y，GONG J，WANG J M.GNSS spoofing interference detection based on variance of SCB[J].Systems Engineering and Electronics，2021，43（8）：2254-2262.
[48] KHAN A M，AHMAD A.Global navigation satellite systems spoofing detection through measured autocorrelation function shape distortion[J].International Journal of Satellite Communications and Networking，2022，40（2）：148-156.
[49] ZHANG X，LI H，YANG C，et al.Signal quality monitoring-based spoofing detection method for global navigation satellite system vector tracking structure[J].IET Radar，Sonar & Navigation，2020，14（6）：944-953.
[50] 李娟丽，梁立明，张骅.一种GPS信号转发欺骗干扰检测技术[J].现代导航，2017，8（4）：253-256.
LI J L，LIANG L M，ZHANG H.Technology of anti-jamming based on amplitude-domain process[J].Modern Navigation，2017，8（4）：253-256.
[51] 赵香香，李亚平.基于伪码相关峰斜率等间隔分布的转发式干扰检测方法[C]//第十届中国卫星导航年会论文集——S11抗干扰与反欺骗技术，2019：1-5.
ZHAO X X，LI Y P.Forwarding interference detection method based on equal interval distribution of pseudo-code correlation peak slope[C]//Proceedings of the 10th China Satellite Navigation Conference—S11 Anti-jamming and Anti-spoofing Technology，2019：1-5.
[52] 范广腾，李献斌，王建.基于检测器性能实时评估的欺骗检测融合算法[J].哈尔滨工业大学学报，2020，52（5）：165-170.
FAN G T，LI X B，WANG J.An anti-spoofing method based on evaluating the performance of detectors in real time[J].Journal of Harbin Institute of Technology，2020，52（5）：165-170.
[53] QI W，ZAHNG Y，LIU X.A GNSS anti-spoofing technology based on doppler shift in vehicle networking[C]//2016 International Wireless Communications and Mobile Computing Conference（IWCMC），2016：725-729.
[54] 张国利，张尧，田野.基于DOD和PTD的北斗欺骗式干扰检测技术研究[J].应用科技，2019，46（2）：35-41.
ZHANG G L，ZHANG Y，TIAN Y.Research of Beidou navigation satellite system spoofing detection based on DOD and PTD[J].Applied Science and Technology，2019，46（2）：35-41.
[55] HE L，LI H，LU M Q.Global navigation satellite system spoofing detection technique based on the doppler ripple caused by vertical reciprocating motion[J].IET Radar，Sonar & Navigation，2019，13（10）：1655-1664.
[56] HE L，LI H，LU M Q.Dual-antenna GNSS spoofing detection method based on doppler frequency difference of arrival[J].GPS Solutions，2019，23（3）：1-14.
[57] HUMPHREYS T E，LEDVINA B M，PSIAKI M L，et al.Assessing the spoofing threat：development of a portable GPS civilian spoofer[C]//International Technical Meeting of the Satellite Division of the Institute of Navigation，2008：2314-2325.
[58] LO S C，ENGE P K.Authenticating aviation augmentation system broadcasts[C]//Proceedings of the IEEE/ION Position，Location and Navigation Symposium（PLANS’10），2010：708-717.
[59] 肖岭，唐小妹，李柏渝，等.GNSS双接收机抗欺骗技术[J].国防科技大学学报，2016，38（3）：45-49.
XIAO L，TANG X M，LI B Y，et al.A GNSS anti-spoofing technique based on dual-receiver[J].Journal of National University of Defense Technology，2016，38（3）：45-49.
[60] 刘科，吴文启，唐康华，等.基于伪距信息的GNSS双接收机抗转发式欺骗干扰检测算法[J].系统工程与电子技术，2017，39（11）：2393-2398.
LIU K，WU W Q，TANG K H，et al.GNSS dual-receiver against repeater deception jamming detection algorithm based on pseudo-range information[J].Systems Engineering and Electronics，2017，39（11）：2393-2398.
[61] TAO H Q，WU H L，LI H，et al.GNSS spoofing detection based on consistency check of velocities[J].Chinese Journal of Electronics，2019，28（2）：218-225.
[62] JEONG S，KIM M，LEE J.CUSUM-based GNSS spoofing detection method for users of GNSS augmentation system[J].International Journal of Aeronautical and Space Sciences，2020：21（2）：513-523.
[63] 邹昆.惯性/卫星组合导航系统不组合问题浅析[J].航空科学技术，2013（4）：49-51.
ZOU K.Analysis on no combination problems in INS/GPS combined navigation system[J].Aeronautical Science & Technology，2013（4）：49-51.
[64] LIU Y，LI S H，XIAO X.INS-aided GNSS spoofing detection based on two antenna raw measurements[J].Gyroscopy and Navigation，2016，7（2）：178-188.
[65] 范广腾，黄仰博，伍微，等.惯导辅助的三元天线阵欺骗干扰检测算法[J].国防科技大学学报，2017，39（2）：91-95.
FAN G T，HUANG Y B，WU W，et al.Detection of spoofing threats by inertial assisted three elements antenna[J].Journal of National University of Defense Technology，2017，39（2）：91-95.
[66] LIU Y，LI S H，FU Q W，et al.Impact assessment of GNSS spoofing attacks on INS/GNSS integrated navigation system[J].Sensors，2018，18（5）：1433-1452.
[67] CECCATO M，FORMAGGIO F，LAURENTI N，et al.Generalized likelihood ratio test for GNSS spoofing detection in devices with IMU[J].IEEE Transactions on Information Forensics and Security，2021，16：3496-3509.
[68] 武智佳，吴文启，刘科，等.基于INS/GNSS紧耦合组合的逐步诱导式欺骗检测算法研究[J].导航定位与授时，2019，6（1）：7-13.
WU Z J，WU W Q，LIU K，et al.Research on algorithm of gradually induced spoofing detection based on tightly coupled INS/GNSS integration[J].Navigation Positioning and Timing，2019，6（1）：7-13.
[69] 郭平，赵建业.芯片级原子钟在Micro-PNT中的应用[J].数字通信世界，2018（12）：13-14.
GUO P，ZHAO J Y.The application of chip-scale atomic clock in Micro-PNT[J].Digital Communication World，2018（12）：13-14.
[70] 刘洋，李四海，付强文，等.芯片级原子钟辅助的惯性/卫星组合导航系统欺骗检测方法[J].中国惯性技术学报，2019，27（5）：654-660.
LIU Y，LI S H，FU Q W，et al.Chip-scale atomic clock aided INS/GNSS integrated navigation system spoofing detection method[J].Journal of Chinese Inertial Technology，2019，27（5）：654-660.
[71] LEE J H，KWON K C，AN D S，et al.GPS spoofing detection using accelerometers and performance analysis with probability of detection[J].International Journal of Control Automation and Systems，2015，13（4）：951-959.
[72] 姜雪梅，车转转.惯性导航系统标定滤波方法研究[J].航空科学技术，2018，29（1）：46-52.
JIANG X M，CHE Z Z.Research on filtering technique in inertial navigation system calibration[J].Aeronautical Science & Technology，2018，29（1）：46-52.
[73] 何晓骁，姚呈康.人工智能等新技术在航空训练中的应用研究[J].航空科学技术，2020，31（10）：7-11.
HE X X，YAO C K.Analysis of artificial intelligence and other new technologies in aviation training[J].Aeronautical Science & Technology，2020，31（10）：7-11.
[74] SHAFIEE E，MOSAVI M R，MOAZEDI M.Detection of spoofing attack using machine learning based on multi-layer neural network in single-frequency GPS receivers[J].Journal of Navigation，2017，71（1）：1-10.
[75] LI J Z，LI W Q，FU Q X，et al.Research progress of GNSS spoofing and spoofing detection technology[C]//2019 IEEE 19th International Conference on Communication Technology（ICCT），2019：1360-1369.
[76] LI J Z，ZHU X，OUYANG M，et al.GNSS spoofing jamming detection based on generative adversarial network[J].IEEE Sensors Journal，2021，21（20）：22823-22832.
[77] 卢丹，殷亚强.基于CS-C-SVM的多参数GNSS欺骗干扰检测[J/OL].信号处理：1-10[2021-12-22].http：//kns.cnki.net/kcms/detail/11.2406.TN.20211122.1852.006.html.
LU D，YIN Y Q.Multi-parameter GNSS spoofing interference detection based on CS-C-SVM[J/OL].Journal of Signal Processing：1-10[2021-12-22].http：//kns.cnki.net/kcms/detail/11.2406.TN.20211122.1852.006.html.
[78] 庞春雷，郭泽辉，吕敏敏，等.基于PNN的北斗转发式欺骗干扰信号检测方法[J].中国惯性技术学报，2021，29（4）：554-560.
PANG C L，GUO Z H，LV M M，et al.BDS against repeater deception jamming detection algorithm based on PNN[J].Journal of Chinese Inertial Technology，2021，29（4）：554-560.
[79] XU H W，LIAN B W.Fault detection for multi-source integrated navigation system using fully convolutional neural network[J].IET Radar，Sonar & Navigation，2018，12（7）：774-782.
[80] JEONG S，LEE J.Synthesis algorithm for effective detection of GNSS spoofing attacks[J].International Journal of Aeronautical and Space Sciences，2020，21：251-264.
[81] TU J X，ZHAN X Q，CHEN M L，et al.GNSS intermediate spoofing detection via dual-peak in frequency domain and relative velocity residuals[J].IET Radar，Sonar & Navigation，2020，14（3）：439-447.
[82] 金磊，曾富华，王娜.信息辅助快速捕获的抗欺骗干扰技术[J].指挥与控制学报，2020，6（1）：81-86.
JIN L，ZENG F H，WANG N.Anti-deception jamming technology of information-aided fast acquisition[J].Journal of Command and Control，2020，6（1）：81-86.