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PVT solution consistency checks #526

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PVT solution consistency checks #526

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35fb509
Added filetype to ignore
Jun 7, 2021
11b2e81
Added negative acquisition comment
Jun 7, 2021
bb30887
Added spoofing detector class and pos check functions
Jun 8, 2021
b200ac2
spoofing detection changes to PVT block t
Jun 8, 2021
85999ba
added security config as sub-config in pvt config
Jun 8, 2021
f32b988
removed unnecessary object copies, added sub-config and security check
Jun 8, 2021
bf9a88b
security checks conf file
Jun 8, 2021
b30cc86
added basic score card and static pos check
Jun 8, 2021
8dfefdc
position jump check, disable static pos check flag
Jun 9, 2021
465f788
Added fifo and jump check conf files
Jun 10, 2021
5cc8958
jump check bug fixes
Jun 10, 2021
dc88d58
last known good location update control var
Jun 10, 2021
e7eea26
added velocity check for pos jump
Jun 14, 2021
37eec3f
added vel compare, abnormal loc checks, renamed variables
Jun 15, 2021
a9acd80
Renamed spoofing detector conf files
Jun 18, 2021
e3d9cc3
overshadow detection tracking correlator value
Jun 20, 2021
9074b09
overshadow detection bug fixes and detection message
Jun 21, 2021
70f2490
Moved pvt checks to PVTConsistencyChecks.cc
Jun 23, 2021
a7415e5
changed how consistency check fetches config params
Jun 23, 2021
9226806
Moved pvt check files to PVT/libs
Jun 23, 2021
68c85ba
added tlm consistency check class
Jun 23, 2021
0a932c8
enable tlm checks
Jul 8, 2021
b799fbb
PVT consistency checks
Jul 9, 2021
bab2597
switched to ECEF for PVT checks
Jul 19, 2021
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116 changes: 116 additions & 0 deletions conf/security_checks_gps_l1_ca.conf
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; This is a GNSS-SDR configuration file
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; SPDX-License-Identifier: GPL-3.0-or-later
; SPDX-FileCopyrightText: (C) 2010-2020 (see AUTHORS file for a list of contributors)

; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf


[GNSS-SDR]

;######### GLOBAL OPTIONS ##################
;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [samples per second].
GNSS-SDR.internal_fs_sps=2000000

;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=File_Signal_Source
SignalSource.filename=./data/overpowered_pos_jump_2M.dat
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unless this file is going to be provided, is this config file really something we need to control?

SignalSource.item_type=gr_complex
SignalSource.sampling_frequency=2000000
SignalSource.freq=1575420000
;SignalSource.samples=2000000
SignalSource.repeat=false
SignalSource.enable_throttle_control=false
SignalSource.seconds_to_skip=0


;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner.implementation=Signal_Conditioner
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if the sub-components are Pass-Through, why not just make the whole conditioner Pass-Through and elide the sub-sections?


DataTypeAdapter.implementation=Pass_Through
DataTypeAdapter.dump=false
DataTypeAdapter.dump_filename=../data/DataTypeAdapter.dat

InputFilter.implementation=Pass_Through
InputFilter.input_item_type=gr_complex
InputFilter.output_item_type=gr_complex

Resampler.implementation=Pass_Through
Resampler.item_type=gr_complex

;######### CHANNELS GLOBAL CONFIG ############
Channels_1C.count=5
Channels.in_acquisition=1
Channel.signal=1C

;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.item_type=gr_complex
Acquisition_1C.coherent_integration_time_ms=1
Acquisition_1C.pfa=0.01
;Acquisition_1C.pfa=0.01
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delete? This commented line appears to duplicate the previous line

Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_step=250
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat

;######### TRACKING GLOBAL CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.pll_bw_hz=40.0;
Tracking_1C.dll_bw_hz=4.0;
Tracking_1C.order=3;
Tracking_1C.dump=true
Tracking_1C.dump_filename=./trk_dump/epl_tracking_c
Tracking_1C.dump_mat=true

;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=true
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I wouldn't expect any of the blocks to have "dump=true" for production

TelemetryDecoder_1C.security_checks=true
TelemetryDecoder_1C.dump_filename=./tlm_dump/telemetry

;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables
Observables.dump=false
Observables.dump_filename=./observables.dat

;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=1
PVT.display_rate_ms=1000
PVT.dump_filename=./PVT
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
PVT.flag_nmea_tty_port=false;
PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=false

PVT.security_checks=true
PVT.print_score=true

;######### Secure PVT ############
SecurePVT.dump_pvt_checks_results=true;

; Position
SecurePVT.position_check=true
SecurePVT.static_pos_check=true ; Disable for dynamic scenarios
SecurePVT.max_jump_distance=100
SecurePVT.geo_fence_radius=5
SecurePVT.static_lat=42
SecurePVT.static_lon=-71
SecurePVT.static_alt=100

SecurePVT.min_altitude=-10
SecurePVT.max_altitude=20000
SecurePVT.min_ground_speed=0
SecurePVT.max_ground_speed=200

; Velocity
SecurePVT.pos_error_threshold=5 ; Receiver will decrease spoofer score if the new location is within 5m of the lkgl, used for velocity consistency check
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newline terminate the final line

106 changes: 106 additions & 0 deletions conf/security_checks_gps_l1_ca_fifo.conf
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; This is a GNSS-SDR configuration file
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; SPDX-License-Identifier: GPL-3.0-or-later
; SPDX-FileCopyrightText: (C) 2010-2020 (see AUTHORS file for a list of contributors)

; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf


[GNSS-SDR]

;######### GLOBAL OPTIONS ##################
GNSS-SDR.internal_fs_sps=10000000
GNSS-SDR.telecommand_enabled=true
GNSS-SDR.telecommand_tcp_port=3333

;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=Fifo_Signal_Source
SignalSource.filename=/tmp/fifo ; example usage: mkfifo fifo.fifo && cat path_to.bin >> fifo.fifo
SignalSource.sample_type=gr_complex; ; sample representation in fifo stream - will always output gr_complex
SignalSource.dump=false
;SignalSource.dump_filename=dump

;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner.implementation=Pass_Through

;######### CHANNELS GLOBAL CONFIG ############
Channels_1C.count=8
Channels.in_acquisition=1
Channel.signal=1C


;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.item_type=gr_complex
Acquisition_1C.coherent_integration_time_ms=1
Acquisition_1C.pfa=0.01
;Acquisition_1C.pfa=0.01
Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_step=250
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat


;######### TRACKING GLOBAL CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.dump=true
Tracking_1C.dump_filename=epl_tracking_ch_
Tracking_1C.pll_bw_hz=40.0;
Tracking_1C.dll_bw_hz=4.0;
Tracking_1C.order=3;
Tracking_1C.dump=false
Tracking_1C.dump_filename=../data/epl_tracking_c


;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false


;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables
Observables.dump=false
Observables.dump_filename=./observables.dat


;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=1
PVT.display_rate_ms=1000
PVT.dump_filename=./PVT
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
PVT.flag_nmea_tty_port=false;
PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=false

PVT.security_checks=true
PVT.print_score=true

PVT.enable_monitor=true
PVT.monitor_client_addresses=127.0.0.1
PVT.monitor_udp_port=1112
;######### Secure ############

SecurePVT.position_check=true
SecurePVT.static_pos_check=true ; Disable for dynamic scenarios
SecurePVT.max_jump_distance=100
SecurePVT.pos_jump_recovery=10 ; Receiver will decrease spoofer score if the new location is within 10 m of the last known good location
SecurePVT.geo_fence_radius=15
SecurePVT.velocity_difference=15
SecurePVT.static_lat=42.378678035
SecurePVT.static_lon=-70.823051380
SecurePVT.static_alt=100

;######### MONITOR CONFIG ############
Monitor.enable_monitor=true
Monitor.decimation_factor=1
Monitor.client_addresses=127.0.0.1
Monitor.udp_port=1111
40 changes: 35 additions & 5 deletions src/algorithms/PVT/adapters/rtklib_pvt.cc
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Expand Up @@ -25,8 +25,9 @@
#include "gps_ephemeris.h" // for Gps_Ephemeris
#include "pvt_conf.h" // for Pvt_Conf
#include "rtklib_rtkpos.h" // for rtkfree, rtkinit
#include <glog/logging.h> // for LOG
#include <iostream> // for operator<<
#include "spoofing_detector_conf.h"
#include <glog/logging.h> // for LOG
#include <iostream> // for operator<<
#if USE_OLD_BOOST_MATH_COMMON_FACTOR
#include <boost/math/common_factor_rt.hpp>
namespace bc = boost::math;
Expand Down Expand Up @@ -120,7 +121,6 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
pvt_output_parameters.gpx_rate_ms = bc::lcm(configuration->property(role + ".gpx_rate_ms", pvt_output_parameters.gpx_rate_ms), pvt_output_parameters.output_rate_ms);
pvt_output_parameters.geojson_rate_ms = bc::lcm(configuration->property(role + ".geojson_rate_ms", pvt_output_parameters.geojson_rate_ms), pvt_output_parameters.output_rate_ms);
pvt_output_parameters.nmea_rate_ms = bc::lcm(configuration->property(role + ".nmea_rate_ms", pvt_output_parameters.nmea_rate_ms), pvt_output_parameters.output_rate_ms);

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don't hate on whitespace. It helps readability

// Infer the type of receiver
/*
* TYPE | RECEIVER
Expand Down Expand Up @@ -818,23 +818,53 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
// Set maximum clock offset allowed if pvt_output_parameters.enable_rx_clock_correction = false
pvt_output_parameters.max_obs_block_rx_clock_offset_ms = configuration->property(role + ".max_clock_offset_ms", pvt_output_parameters.max_obs_block_rx_clock_offset_ms);

// Spoofing detection parameters
pvt_output_parameters.security_checks = configuration->property(role + ".security_checks", false);
// ####### Position consistency check configuration

if (pvt_output_parameters.security_checks)
{
pvt_output_parameters.print_score = configuration->property(role + ".print_score", false);

PVTConsistencyChecksConf spoofing_detection_parameters = PVTConsistencyChecksConf();

spoofing_detection_parameters.dump_pvt_checks_results = configuration->property("SecurePVT.dump_pvt_checks_results", false);

spoofing_detection_parameters.position_check = configuration->property("SecurePVT.position_check", false);
spoofing_detection_parameters.max_jump_distance = configuration->property("SecurePVT.max_jump_distance", 100);
spoofing_detection_parameters.geo_fence_radius = configuration->property("SecurePVT.geo_fence_radius", 15);
spoofing_detection_parameters.velocity_difference = configuration->property("SecurePVT.velocity_difference", 15);
spoofing_detection_parameters.pos_error_threshold = configuration->property("SecurePVT.pos_error_threshold", 10);
spoofing_detection_parameters.static_pos_check = configuration->property("SecurePVT.static_pos_check", false);

spoofing_detection_parameters.min_altitude = configuration->property("SecurePVT.min_altitude", -10);
spoofing_detection_parameters.max_altitude = configuration->property("SecurePVT.max_altitude", 20000);
spoofing_detection_parameters.min_ground_speed = configuration->property("SecurePVT.min_ground_speed", 0);
spoofing_detection_parameters.max_ground_speed = configuration->property("SecurePVT.max_ground_speed", 200);

spoofing_detection_parameters.static_lat = configuration->property("SecurePVT.static_lat", 0.0);
spoofing_detection_parameters.static_lon = configuration->property("SecurePVT.static_lon", 0.0);
spoofing_detection_parameters.static_alt = configuration->property("SecurePVT.static_alt", 0.0);
Comment on lines +833 to +847
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Given that the only documentation some people may see is the config file, I strongly encourage you to include units in your attribute names. For example, "SecurePVT.min_altitude_ft" (or did you really mean your upper bound to be 20000m?)

Configuring lat/lon as decimal degrees (presumed) requires an assumption of your origin (East-positive is most common, but not a given). For a config file, a string DDMMSS[.ss]H representation is better. Actually, a single property for location (DDHHMMSSH/DDDHHMMSSH) is better, since latitude is properly inseparable from longitude.

This implementation is constrained to a single instance, which might not be sufficient in the future. Inasmuch as these properties are associated to this PVT instance, it would be better, I think, to tie them to role rather than the hard-coded string "SecurePVT"


pvt_output_parameters.security_parameters = spoofing_detection_parameters;
}

// make PVT object
pvt_ = rtklib_make_pvt_gs(in_streams_, pvt_output_parameters, rtk);

DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
if (out_streams_ > 0)
{
LOG(ERROR) << "The PVT block does not have an output stream";
}
}


Rtklib_Pvt::~Rtklib_Pvt()
{
DLOG(INFO) << "PVT adapter destructor called.";
rtkfree(&rtk);
}


bool Rtklib_Pvt::get_latest_PVT(double* longitude_deg,
double* latitude_deg,
double* height_m,
Expand Down
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