Journal of Systems Engineering and Electronics ›› 2022, Vol. 33 ›› Issue (5): 1237-1248.

• CONTROL THEORY AND APPLICATION •

### Improved adaptively robust estimation algorithm for GNSS spoofer considering continuous observation error

Yangjun GAO1,2(), Guangyun LI1,*(), Zhiwei LYU1(), Lundong ZHANG1(), Zhongpan LI3()

1. 1 Institute of Geospatial Information, PLA Strategic Support Force Information Engineering University, Zhengzhou 450001, China
2 State Key Laboratory of Geo-Information Engineering, Xi’an 710000, China
3 Unit 96944 of the PLA, Beijing 100000, China
• Received:2021-05-04 Online:2022-10-27 Published:2022-10-27
• Contact: Guangyun LI E-mail:951242669@qq.com;guangyun_li_chxy@163.com;lvzhiwei@sina.com;zhangldxd@163.com;724136242@qq.com
• About author:|GAO Yangjun was born in 1995. He received his B.S. and M.S. degrees from PLA Strategic Support Force Information Engineering University, Zhengzhou, China, in 2017 and 2020, respectively. He is a Ph.D. candidate in the Institute of Geospatial Information at the PLA Strategic Support Force Information Engineering University. His research interests include global navigation satellite system applications. E-mail: 951242669@qq.com||LI Guangyun was born in 1965. He received his M.S. degree from PLA Institute of Surveying and Mapping, China, in 1987. Currently, he is a professor of the Institute of Geospatial Information, PLA Strategic Support Force Information Engineering University. His research interests include navigation and location services and applications. E-mail: guangyun_li_chxy@163.com||LYU Zhiwei was born in 1974. He obtained his Ph.D. degree in space geodetic survey and navigation from PLA Strategic Support Information Engineering University, China, in 2010. He is currently a professor at PLA Strategic Support Information Engineering University, China. His current research focuses mainly on satellite navigation data processing and space geodetic survey. E-mail: lvzhiwei@sina.com||ZHANG Lundong was born in 1980. He received his Ph.D. degree from National University of Defense Technology, China, in 2012. He is currently a lecturer at PLA Strategic Support Information Engineering University, China. His current research focuses mainly on indoor navigation and pedestrian. E-mail: zhangldxd@163.com||LI Zhongpan was born in 1994. He received his B.S. and M.S. degrees from PLA Strategic Support Force Information Engineering University, Zhengzhou, China, in 2017 and 2019, respectively. His research interests include global navigation satellite system applications. E-mail: 724136242@qq.com
• Supported by:
This work was supported by the State Key Laboratory of Geo-Information Engineering (SKLGIE2022-Z-2-1), and the National Natural Science Foundation of China (41674024;42174036)

Abstract:

Once the spoofer has controlled the navigation system of unmanned aerial vehicle (UAV), it is hard to effectively control the error convergence to meet the threshold condition only by adjusting parameters of estimation if estimation of the spoofer on UAV has continuous observation error. Aiming at this problem, the influence of the spoofer’s state estimation error on spoofing effect and error convergence conditions is theoretically analyzed, and an improved adaptively robust estimation algorithm suitable for steady-state linear quadratic estimator is proposed. It enables the spoofer’s estimator to reliably estimate UAV status in real time, improves the robustness of the estimator in responding to observation errors, and accelerates the convergence time of error control. Simulation experiments show that the mean value of normalized innovation squared (NIS) is reduced by 88.5%, and the convergence time of NIS value is reduced by 76.3%, the convergence time of true trajectory error of UAV is reduced by 42.3%, the convergence time of estimated trajectory error of UAV is reduced by 67.4%, the convergence time of estimated trajectory error of the spoofer is reduced by 33.7%, and the convergence time of broadcast trajectory error of the spoofer is reduced by 54.8% when the improved algorithm is used. The improved algorithm can make UAV deviate from preset trajectory to spoofing trajectory more effectively and more subtly.