INS辅助的BDS伪距率一致性欺骗信号检测方法

传统INS辅助的伪距检测模型难以敏感低于惯导漂移误差的位置拉偏，针对这一问题，提出了INS辅助的BDS伪距率一致性欺骗信号检测方法。利用惯导误差发散缓慢的速度信息，构造经INS校准后的伪距率，与实际测得的卫星伪距率差分获得一致性检验量，并采用故障检测的思想制定欺骗信号检测方案，分析得出检测门限。实验结果显示，相较于随时间发散严重的伪距模型，所提方法同时适用于对位置欺骗和速度欺骗的检测，降低了检测误警率，能够在较长时间内保证检测灵敏性，且高精度的惯导系统辅助能够有效提高检测性能。

An INS-Assisted BDS Pseudorange Rate Consistency Deception Signal Detection Method

Aimed at the problem that the traditional INS-assisted pseudorange detection model is difficult to sense the position deviation lower than the inertial navigation drift error, an INS-assisted BDS pseudo-range rate-consistent deception signal detection method is proposed. The slow divergence speed information of the inertial navigation error is utilized for constructing the pseudorange rate after INS calibration, and obtaining the consistency test by the difference between the actual measured satellite pseudorange rate, and using the idea of fault detection to formulate a deception signal detection plan. The detection threshold is reached. The experimental results show that the pseudorange model compares with serious divergence over time, the proposed method is suitable for the detection of both position spoofing and speed spoofing, reducing the detection false alarm rate, and ensuring the detection sensitivity for a long time. High-precision inertial navigation system assistance can effectively improve the detection performance.