LS-SVM和抗差估计的GNSS/INS紧组合欺骗检测算法  

Tightly-coupled GNSS/INS spoofing detection algorithm for LS-SVM and robust estimation

作　　者：柯晔 吕志伟[1] 周玟龙 邓旭 商向永 武文博 KE Ye;LYU Zhiwei;ZHOU Wenlong;DENG Xu;SHANG Xiangyong;WU Wenbo(School of Geospatial Information,PLA Strategic Support Force Information Engineering University,Zhengzhou 450001,China;31618 of the PLA,Fuzhou 350000,China;Key Laboratory of Electro-Optical Countermeasures Test&Evaluation Technology,Luoyang 471000,China)

机构地区：[1]战略支援部队信息工程大学地理空间信息学院,郑州450001 [2]解放军31618部队,福州350000 [3]光电对抗测试评估技术重点实验室,洛阳471000

出　　处：《北京航空航天大学学报》2024年第1期299-307,共9页Journal of Beijing University of Aeronautics and Astronautics

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

摘　　要：针对传统欺骗检测算法对斜率较小的斜坡式欺骗检测时间过长、虚警率和漏检率偏高等问题,提出一种最小二乘支持向量机(LS-SVM)和抗差估计的全球卫星导航系统(GNSS)和惯性导航系统(INS)紧组合欺骗检测算法。所提算法通过抗差自适应调整增益矩阵,有效削弱欺骗对新息的影响,将抗差优化的训练数据集经LS-SVM回归得到的预测新息来代替滤波器中的欺骗新息,从而进一步提高对斜率较小的斜坡式欺骗检测处理能力。仿真结果表明:在检测欺骗值为0.1 m/s的斜坡式欺骗时,所提算法与传统算法相比,检测时间缩短26.65%,虚警率降低40.63%,定位精度提高72.72%。所提算法具有检测快、虚警率低的优势,适用于GNSS/INS紧组合导航用户的斜坡式欺骗检测。The traditional spoofing detection algorithm suffers from a prolonged time of detecting ramp spoofing with small slopes,a high false alarm rate,and a high missed detection rate.Therefore,this study proposes a spoofing detection algorithm with tightly-coupled global navigation satellite system(GNSS)and inertial navigation system(INS)based on least squares-support vector machine(LS-SVM)and robust estimation.The algorithm effectively mitigates the influence of spoofing on innovation by adaptively adjusting the gain matrix with robustness.It then replaces the spoofing innovation in the filter with the forecasted innovation obtained by LS-SVM regression of the training data set optimized with robustness,thus further improving the detection and processing ability of ramp spoofing with small slopes.Simulation results show that when detecting 0.1 m/s ramp spoofing,the proposed algorithm can shorten the detection time by 26.65%,reduce the false alarm rate by 40.63%and improve the positioning accuracy by 72.72%,compared with the traditional algorithm.The proposed algorithm has the advantages of fast detection and low false alarm rate,suitable for ramp spoofing detection of tightly integrated GNSS/INS navigation users.

关 键 词：最小二乘支持向量机 抗差估计 GNSS/INS紧组合 欺骗检测 斜坡式 

分 类 号：U666.1[交通运输工程—船舶及航道工程] V249[交通运输工程—船舶与海洋工程] TN954.1[航空宇航科学与技术—飞行器设计]