نوع مقاله : مقالة تحقیقی (پژوهشی)
نویسندگان
1 کارشناسی ارشد، دانشکده هوافضا، دانشگاه صنعتی خواجه نصیر الدین طوسی، تهران، ایران
2 دانشیار، دانشکده مهندسی هوافضا، دانشگاه صنعتی خواجه نصیرالدین طوسی، تهران، ایران
چکیده
این مقاله به ارائه‌ی راهکاری برای تشخیص و جبران خطای فریب سیگنال‌های گیرنده‌ی GPS، به منظور افزایش دقت ناوبری تلفیق سامانه‌های اینرسی با سیگنال-های GPSمی‌پردازد. تلفیق ناوبری اینرسی و داده‌های GPS مزایای زیادی دربردارد. با این حال به واسطه ضعف سیگنال‌های ماهواره‌ای در مقابل حملات قطعی و فریب، ارائه راهکارهای تحلیلی در بهبود تخمین فیلتر کالمن نسبت به راهکارهای سخت‌افزاری از جایگاه ویژه‌ای برخوردار هستند. در این مقاله، روش جدیدی برای تلفیق مستقل INS/GPS ارائه شده است که در آن از رفتار حالت ماندگار پارامترهای بهره ماتریس کالمن، برای تشخیص و جبران فریب، استفاده می‌گردد. با توجه به میل پارامترهای بهره فیلتر کالمن به مقادیر ثابت، با هدف تصحیح و پیش‌بینی خطای متغیرهای حالت، می‌توان از آن برای شناسایی داده‌های فریب GPS استفاده کرد. وجود فریب در سیگنال گیرنده‌ی GPS هنگام تلفیق با داه‌های اینرسی از طریق نوسانات بهره‌ی فیلتر کالمن قابل تشخیص است. به طوری که درایه-های ماتریس بهره فیلتر کالمن درحالت حلقه بسته به مقدار ثابتی میل می‌کنند و در صورت بروز فریب این عملکرد با نوسانات بسیاری همراه می‌شود. همچنین با استفاده از وزن‌دهی پویا اثر خطاهای ناشی از این حملات جبران می‌شود.
کلیدواژه‌ها
موضوعات
عنوان مقاله [English]
Improved Spoofing Loosely Coupled INS /GPS with Steady State Kalman Matrix Gain
نویسندگان [English]
- Reza Ghasrizadeh 1
- Amir Ali Nikkhah 2
1 M.Sc., Faculty of Aerospace Engineering of K. N. Toosi University of Technology Tehran, Iran.
2 Associate Professor, Faculty of Aerospace Engineering, K. N. Toosi University of Technology , Tehran, Iran
چکیده [English]
This paper presents a solution for detecting and recovery for the spoof error of GPS receiver signals, in order to increase the accuracy of the navigation system integrating inertial systems with GPS signals. integrated inertial navigation and GPS data has many advantages. However, due to the weakness of satellite signals against jamming and spoof attacks of providing analytical solutions, they have a special place in improving Kalman filter estimation compared to hardware solutions. In this paper, a new method for loosely coupled of INS/GPS is presented, in which the steady state of Kalman gain parameters is used during deception detection and recovery. With the gain parameters of the Kalman filter tending to constant values, with the aim of correcting and predicting the error of state variables, it can be used to detection GPS spoofed data. It can be detected by spoof in the GPS receiver signal when couple with inertial waves through the amount of Kalman gain fluctuations. In the case of closed loop, the Kalman gain matrix denominators tend to a constant value, and in case of deception, this function is associated with many fluctuations. By using dynamic weighting, the effect of errors caused by these attacks is recovered.
کلیدواژه‌ها [English]
- Loosely coupled GPS/INS
- Kalman filter
- Spoofing signal
- Gain kalman
- Steady-state
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