GNSS/INS紧组合的新息优化抗差估计欺骗检测算法  

Innovation optimal robust estimation spoofing detection algorithm of tightly coupled GNSS/INS integration

作　　者：柯晔 吕志伟[1] 周玟龙 邓旭 周舒涵 艾宏岩 KE Ye;LYU Zhiwei;ZHOU Wenlong;DENG Xu;ZHOU Shuhan;AI Hongyan(PLA Strategic Support Force Information Engineering University,Zhengzhou 450000,China;31618 Troops,Fuzhou 350000,China;31700 Troops,Liaoyang 111000,China)

机构地区：[1]战略支援部队信息工程大学,郑州450000 [2]31618部队,福州350000 [3]31700部队,辽阳111000

出　　处：《中国惯性技术学报》2022年第2期272-280,共9页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(41804035,42174036);地理信息工程国家重点实验室基金资助项目(SKLGIE2020-Z-2-1)。

摘　　要：针对传统的新息抗差估计欺骗检测算法对缓慢增长的斜坡式欺骗检测时间较长甚至检测不敏感等问题,提出了一种GNSS/INS紧组合的新息优化抗差估计欺骗检测算法。所提出的算法对缓慢增长的斜坡式的新息检测量进行了优化,结合抗差估计自适应调整增益矩阵并合理选择“检测窗口”,进一步提高了对缓慢增长的斜坡式欺骗干扰的检测效率和检测性能。仿真结果表明,在检测单通道0.1 m/s缓慢增长的斜坡式欺骗时,所提算法检测时间较新息抗差估计欺骗检测算法平均缩短了30%以上,漏检率为0;在检测多通道时,检测时间平均缩短了30%,漏检率为0,虚警率平均降低了18.5%。所提算法在检测缓慢增长的斜坡式欺骗干扰时,具有检测快、漏检率和虚警率低的优势,对无人机应用领域具有重要意义。In order to solve the problem that the traditional innovation robust estimation spoofing detection algorithm takes a long time to detect the slow-growing ramp spoofing,and even is insensitive to the detection,a tightly coupled GNSS/INS integration innovation optimization and robust estimation spoofing detection algorithm is proposed.The slow-growing ramp innovation detection quantity is optimized.The gain matrix is adaptively adjusted combing with robust estimation and the"detection window"is reasonably selected.The detection efficiency and performance of ramp spoofing with slow growth are further improved.Simulation results show that the detection time of the proposed algorithm is more than 30%shorter than that of the new deception detection algorithm,the missed detection rate is 0 when detecting 0.1 m/s slow-growing ramp spoofing of single channel;When detecting multi-channel,the detection time is shortened by 30%on average,the missed detection rate is 0,and false alarm rate is reduced by 18.5%on average.The proposed algorithm has the advantages of short detection time,low missed detection rate and low false alarm rate when detecting the slow-growing ramp deception spoofing,which is of great significance to the application field of unmanned aerial vehicle.

关 键 词：GNSS/INS紧组合 新息优化 抗差估计 欺骗检测 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计] U666.1[交通运输工程—船舶及航道工程]