System and method for determining the direction of a false GNSS satellite signal transmitter

• US 10,234,564 B2
• Filed: 03/12/2015
• Issued: 03/19/2019
• Est. Priority Date: 08/14/2013
• Status: Active Grant

• Current Assignee: Hemisphere GNSS(USA) Incorporated
• Original Assignee: Hemisphere GNSS(USA) Incorporated
• Inventors: Whitehead, Michael
• Primary Examiner(s): Gregory, Bernarr E
• Assistant Examiner(s): Pervin, Nuzhat
• Application Number:
  US14/645,971
• Publication Number:
  US 20150268350A1
• Time in Patent Office: 1,468 Days
• Field of Search: 34235759
• CPC Class Codes: G01S 19/215 issues related to spoofing
• CPC Class Codes: G01S 3/46 using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems

Abstract

Disclosed is a device and method for determining the direction of a false Global Navigation Satellite System (GNSS) satellite signal transmitter. False GNSS satellite signals can be used malevolently to take control of a rigid body such as a vehicle or ship that is using GNSS satellite signals for navigation. The GNSS device according to the invention computes a plurality of range differences, where each range difference is the difference between a range from a first GNSS satellite to a first GNSS antenna, and the range from the first GNSs satellite to a second GNSS antenna. Each of the plurality of range differences is correlated to a rotation angle of a baseline vector extending from the first GNSS antenna to the second GNSS antenna. The rotation angles and their corresponding range differences can be used to indicate the direction of the false GNSS satellite signal transmitter.

Claims

1. A method of using a global navigation satellite system (GNSS) attitude system having a first GNSS antenna and a second GNSS antenna located at opposing ends of a bar located on a fixed reference body to determine a direction of a false GNSS satellite signal transmitter comprising:

rotating the bar and first GNSS antenna and second GNSS antenna about a center point of the bar located midway between the first GNSS antenna and second GNSS antenna;

determining, using a plurality of GNSS signals received from a false GNSS transmitter, at a first point in time during the rotation of the bar, a first set of ranges between the first GNSS antenna and the false GNSS transmitter;

determining, using a plurality of GNSS signals received from the false GNSS transmitter, at the first point in time during the rotation of the bar, a second set of ranges between the second GNSS antenna and the false GNSS transmitter;

calculating a plurality of range differences, wherein each of the plurality of range differences corresponds to one of the plurality of GNSS signals received by the GNSS antennas, wherein each one of the plurality of range differences further corresponds to at least one baseline vector rotation angle of a baseline vector, wherein the baseline vector is a straight line that extends between the first GNSS antenna and second GNSS antenna;

determining the direction of the false GNSS satellite signal transmitter based on the plurality of range differences, wherein the direction of the false GNSS satellite is determined by identifying a first baseline vector rotation angle wherein two or more of the plurality of range differences are at a minimum value or are at a maximum value, and wherein the direction of the false GNSS satellite signal transmitter is determined with respect to the first angle; and

,

wherein the baseline vector rotation angle is measured with respect to the fixed reference body.

2. The method of claim 1, wherein the two or more of the plurality of range differences are at a maximum value, and wherein the first baseline vector rotation angle is a maximum baseline vector rotation angle, wherein determining the direction of the false GNSS satellite signal transmitter based on the plurality of range differences further comprises:

setting the direction of the false GNSS satellite signal transmitter to be equal to the maximum baseline vector rotation angle plus 180 degrees.

3. The method of claim 1, wherein the two or more of the plurality of range differences are at a minimum value, and wherein the first baseline vector rotation angle is a minimum baseline vector rotation angle, wherein determining the direction of the false GNSS satellite signal transmitter based on the plurality of range differences comprises:

setting the direction of the false GNSS satellite signal transmitter to be equal to the minimum baseline vector rotation angle.

4. The method of claim 1, wherein determining the direction of the false GNSS satellite signal transmitter based on the plurality of range differences comprises calculating a path difference distance for each one of the plurality of range differences.

5. The method of claim 1, wherein determining the direction of the false GNSS satellite signal transmitter based on the plurality of range differences comprises computing the travel time differential bias for each one of the plurality of range differences.

6. The method of claim 1, further comprising detecting that a false GNSS satellite signal is being received.

7. The method of claim 1, further comprising indicating the direction of the false GNSS satellite signal transmitter.

8. A method of determining a direction of a false Global Navigation Satellite System (GNSS) satellite signal transmitter comprising:

rotating a baseline vector that extends between a first and second antenna located at opposite ends of a rotatable bar through a plurality of rotation angles, wherein the baseline vector is rotated by rotating the first and second antennas about a midpoint of the bar that is fixed in location relative to a fixed platform to which the bar is secured, and wherein the plurality of rotation angles are measured with respect to a fixed reference body;

calculating a plurality of range differences at a common point in time, wherein each of the plurality of range differences corresponds to one of the plurality of GNSS signals received by both GNSS antennas, and wherein each one of the plurality of range differences corresponds to one of the plurality of rotation angles;

and

determining the direction of the false GNSS satellite signal transmitter based on at least two of the plurality of range differences having a minimum value or having a or maximum value out of the calculated range difference values at the same rotation angle.

9. The method of claim 8, wherein the baseline vector extends from a first GNSS antenna to a second GNSS antenna.

10. A global navigation satellite system (GNSS) device for determining the direction of a false GNSS satellite signal transmitter comprising:

a device body, wherein the device body has a direction axis;

a bar having a length and first and second ends opposite to each other, the bar secured to the device body and configured to rotate about a midpoint of the bar;

a first antenna secured to the first end of the bar;

a second antenna secured to the second end of the bar;

a rotation apparatus, wherein the rotation apparatus rotates the bar such that a baseline vector extending from the first antenna to the second antenna rotates through a plurality of baseline vector rotation angles about the midpoint of the bar, wherein the baseline vector rotation angles are measured with respect to the direction axis;

a processor, wherein the processor calculates a plurality of range differences at a common point in time, wherein each of the plurality of range differences corresponds to one of a plurality of GNSS signals received by both antennas, and wherein each one of the plurality of range differences corresponds to one of the plurality of baseline vector rotation angles, and wherein the processor determines the direction of the false GNSS satellite signal transmitter based on at least two of the plurality of range differences having a minimum value or having a maximum value out of the calculated range differences at the same baseline vector rotation angle.

11. The GNSS device of claim 10, wherein the processor determines which one of the plurality of baseline vector rotation angles corresponds to a maximum baseline vector rotation angle where at least two of the plurality of range differences have a maximum value, and wherein the processor sets the direction of the false GNSS satellite signal transmitter to be equal to the maximum baseline vector rotation angle plus 180 degrees.

12. The GNSS device of claim 11, wherein the processor outputs a false GNSS satellite signal transmitter direction.

13. The GNSS device of claim 10, wherein the processor determines which one of the plurality of baseline vector rotation angles corresponds to a minimum baseline vector rotation angle where at least two of the plurality of range differences have a minimum difference value, and wherein the processor sets the direction of the false GNSS satellite signal transmitter to be equal to the minimum baseline vector rotation angle.

14. A global navigation satellite system (GNSS) device for determining the direction of a false GNSS satellite signal transmitter comprising:

a device body, wherein the device body has a direction axis;

a plurality of GNSS antenna pairs fixed to the device body, each antenna pair comprising two antennas located opposite each other across a circle and having a straight line baseline vector extending between the antennas of each antenna pair, wherein each one of the baseline vectors has a midpoint, the midpoint of each of the baseline vectors intersecting at the same point, and wherein each one of the plurality of baseline vectors comprises a baseline vector rotation angle with respect to the direction axis;

and

a processor coupled to the antennas, wherein the processor;

calculates a plurality of range differences at a common point in time, wherein each one of the plurality of range differences corresponds to one of a plurality of GNSS signals received at the antennas, and wherein each one of the plurality of range differences corresponds to one of the plurality of baseline vector rotation angles; and

, wherein the processor determines the direction of the false GNSS satellite signal transmitter based on determining a baseline vector rotation angle where at least two of the plurality of range differences are at a minimum value or are at a maximum value out of the calculated plurality of range differences.