METHOD FOR DETERMINING THE POSITION OF A DECOY USING AT LEAST ONE RECEIVER

Abstract

A method for determining the position of a decoy using at least one receiver, the method includes a step for detecting a decoy attack, a step for correcting the clock bias delivered by the receiver based on an estimated drift (D.sub.j) of the clock of the receiver. The method comprises a step for differential measurements using at least three corrected clock biases (CB.sub.jcorr(t″), CB.sub.kcorr(t″), CB.sub.lcorr(t″)) and a localization step for determining the position of the decoy.

Claims

1. A method for determining the position of a decoy using at least one receiver (103; 103.sub.1, . . . 103j, . . . 103.sub.N), the said receiver (103; 103.sub.1, . . . 103j, . . . 103.sub.N) being designed to receive signals coming from the satellites of a GNSS radionavigation system, the said receiver (103; 103.sub.1, . . . 103j, . . . 103.sub.N) and the said GNSS radionavigation system each having a clock, respectively referred to as clock of the receiver and reference clock, the said clock of the receiver and the said reference clock having a time difference at a time t referred to as reference clock bias (CB.sub.ref(t); CB.sub.jref(t)), the said clock of the receiver drifting over time with respect to the reference clock, the said method comprising: a step (E3) for detecting a decoy attack; a step (E5) for correcting the clock bias delivered by the receiver (103, 103.sub.1, . . . 103j, . . . 103.sub.N) at a time t″, referred to as corrected clock bias (CB.sub.corr(t″); CB.sub.jcorr(t″)), the said correction being made based on an estimated drift (D; D.sub.j) of the clock of the receiver; a step (E6) for differential measurements using at least three corrected clock biases (CB.sub.corr(t″), CB.sub.corr(t′″), CB.sub.corr(t″″); CB.sub.jcorr(t″), CB.sub.kcorr(t″), CB.sub.lcorr(t″)) in order to determine the position of the decoy.

2. The method according to claim 1, wherein the position of the decoy is obtained using only one receiver, the said receiver being mobile, and wherein the estimated drift (D) is determined with respect to a clock of the decoy.

3. The method according to claim 1, wherein the corrected clock bias (CB.sub.corr(t″)) corresponds to the equation: CB.sub.corr(t″)=(δ.sub.S(t″)−δ(t″))−D(t″−t.sub.0)−CBe(t.sub.0), wherein δ.sub.S represents a value of the drift of the clock of the decoy as seen by the receiver, δ is the actual drift of the clock of the receiver, CBe(t.sub.0) is the known value of the clock bias delivered by the receiver at the time to of the start of an attack.

4. The method according to claim 1, wherein the position of the decoy is determined using several receivers (103.sub.1, . . . 103j, . . . , 103.sub.N) and wherein the estimated drift (D.sub.j) is determined with respect to the GNSS radionavigation system.

5. The method according to claim 1, wherein the corrected clock bias (CB.sub.jcorr(t″)) corresponds to the equation: CB.sub.jcorr(t″)=(δ.sub.S(t″)−δ.sub.j(t″))−D.sub.j(t″−t.sub.0)−CBe(t.sub.0) wherein δ.sub.S represents a value of the drift of the clock of the decoy as seen by the receiver, δ.sub.j is the actual drift of the clock of the j.sup.th receiver (103.sub.j), CBe.sub.j(t.sub.0) is the known value of the clock bias delivered by the j.sup.th receiver (103.sub.j) at the time to of the start of an attack.

6. The method according to claim 1, wherein the differential measurement step (E6) is carried out using a multilateration method, the said multilateration method being designed to process a time difference of signals, such as a TDOA method.

7. The method according to claim 1, wherein the said method comprises a step (E7) for exploiting Doppler measurements in order to improve the determination of the position of the decoy.

8. The method according to claim 1, wherein the receiver is mobile and the position of the decoy is estimated based on at least three measurements carried out at various times.

9. The method according to claim 4, wherein the position of the said decoy is estimated based on measurements carried out by several receivers (103.sub.1, . . . 103j, . . . 103.sub.N) at the same time.

10. The method according to claim 1, wherein the step for detecting the decoy attack comprises: a step (E1) for receiving an input signal by the at least one receiver (103; 103.sub.1, . . . 103j, . . . 103.sub.N) at a time t′, the said input signal comprising information on a clock of the emitter of the said input signal; a step (E2) for determining a time difference between the clock of the receiver and the clock of the emitter of the said input signal at this time t′, referred to as determined clock bias (CB.sub.det(t′); CB.sub.jdet(t′)); if the clock bias determined at this time t′ is different from the reference clock bias at the time t′ (CB.sub.ref(t′); CB.sub.jref(t′), then the said emitter is a decoy and the time t′ corresponds to the time to of the start of an attack.

11. The method according to claim 10, wherein, as soon as it is determined that the emitter is a decoy, the receiver (103; 103.sub.1, . . . 103j, . . . 103.sub.N) is oriented towards another satellite radionavigation system and/or the mobility of the receiver is managed by an assembly of mechanical sensors.

12. A device for determining the position of a decoy using at least one receiver (103; 103.sub.1, . . . 103j, . . . 103.sub.N), the said receiver (103; 103.sub.1, . . . 103j, . . . 103.sub.N) being designed to receive signals coming from satellites of a GNSS radionavigation system, the said receiver (103; 103.sub.1, . . . 103j, . . . 103.sub.N) and the said GNSS radionavigation system each having a clock, respectively referred to as clock of the receiver and reference clock, the said clock of the receiver and the said reference clock having a time difference at a time t referred to as reference clock bias (CB.sub.ref(t); CB.sub.jref(t)), the said clock of the receiver drifting over time with respect to the reference clock, the said determination device comprising: a module for detecting a decoy attack; a block for correcting the clock bias delivered by the receiver (103; 103.sub.1, . . . 103j, . . . 103.sub.N) referred to as corrected clock bias (CB.sub.corr(t″); CB.sub.jcorr(t″)), the said correction being carried out based on an estimated drift (D; D.sub.j) of the clock of the receiver; a block for differential measurements using at least three corrected clock biases (CB.sub.corr(t″), CB.sub.corr(t′″), CB.sub.corr(t″″); CB.sub.jcorr(t″), CB.sub.kcorr(t″), CB.sub.lcorr(t″)) for determining the position of the decoy.

13. A navigation system designed to exploit the information delivered by at least one receiver (103; 103.sub.1, . . . 103.sub.j, . . . 103.sub.N), the said navigation system comprising a device for determining the position of a decoy according to claim 12.

14. An aircraft comprising a device for determining the position of a decoy according to claim 12.

15. The aircraft according to claim 14, wherein the said aircraft is a drone.

16. The aircraft according to claim 15, wherein the said drone is a master drone designed to communicate with a plurality of other drones referred to as slave drones.

17. A non-transitory computer readable medium on which is stored a computer program product comprising program instructions usable by a device for determining the position of a decoy, which, when executed by a processor in said device, implements the method for determining the position of the decoy according to claim 1.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present invention will be better understood upon reading the detailed description of embodiments taken by way of non-limiting examples and illustrated by the appended drawings in which:

[0039] FIG. 1 is a view illustrating a decoy attack targeting a receiver;

[0040] FIG. 2 is a diagram illustrating the various steps of a method for determining the position of the decoy using the receiver in FIG. 1, according to a first embodiment of the invention;

[0041] FIG. 3 is a diagram illustrating a device for determining the position of a decoy for an implementation of the method in FIG. 2;

[0042] FIG. 4 is a view illustrating a decoy attack targeting a plurality of receivers;

[0043] FIG. 5 is a diagram illustrating the various steps of a method for determining the position of a decoy using the receivers in FIG. 4, according to a second embodiment of the invention;

[0044] FIG. 6 is a diagram illustrating a device for determining the position of a decoy for an implementation of the method in FIG. 5.

[0045] In the various figures, identical or similar elements carry the same references.

DETAILED DESCRIPTION

[0046] FIG. 1 illustrates an attack by a decoy 102 aimed at a receiver 103. Here, the receiver is placed in a mobile vehicle. The receiver 103 is designed to receive an authentic signal 105 coming from a satellite 101 of a satellite radionavigation system. Preferably, the motor vehicle is an autonomous motor vehicle. As a variant, the receiver 103 belongs to an aircraft, for example to a drone. The authentic signal 105 allows the receiver 103 to know the real localization 109 of the vehicle or of the aircraft carrying the said receiver 103.

[0047] During the attack, a malicious person 108 tries to replace the authentic signal 105 with a malicious input signal 106 at the receiver 103. In one type of attack, the malicious signal 106 has a higher power than the authentic signal 105 at the receiver 103. Accordingly, the authentic signal 105 is “smothered” by the malicious signal 106 and the receiver 103 only now “hears” this malicious signal 106. The malicious signal 106 can then transmit erroneous information in order for the receiver to determine a dummy localization 110 shifted with respect to the real localization 109.

[0048] FIG. 2 illustrates the various steps of a method for determining the position of the decoy 102 using the receiver 103, according to a first embodiment of the invention.

[0049] As has already been stated, the receiver 103 is designed to receive signals coming from a constellation of satellites 101 of a reference GNSS radionavigation system. This receiver 103 and this constellation of satellites 101 each possess an internal clock. In the case of the constellation of satellites, the internal clock of this constellation is also called reference clock. The clock of the receiver 103 and the reference clock of the constellation of satellites 101 exhibit a time difference, referred to as reference clock bias (CB.sub.ref(t)) determined at a time t.

[0050] Furthermore, for reasons of production costs, the clock of the receiver has, in general, a much lower performance specification than the reference clock of the constellation of satellites. This clock of the receiver is thus subject to relatively large drifts over time with respect to the reference clock of the constellation of satellites.

[0051] The method for determining the position of the decoy 102 is illustrated in the following using FIG. 2.

[0052] For this first embodiment of the invention, the assumptions are as follows:

[0053] the decoy 102 is a single-point coherent decoy. It represents a false constellation co-localized at a fixed position S on the ground;

[0054] the vehicle carrying the receiver is mobile and P(t) is the position of the vehicle at a time t;

[0055] the drift of the clock of the receiver 103 with respect to the clock of the constellation of satellites 101 is known or estimated and hence predictable in the short term;

[0056] the reference clock bias CB.sub.ref(t), delivered by the receiver prior to the decoy attack, at a time t, between the clock of the receiver 103 and the clock of the constellation of satellites 101 is expressed in the following manner:

CB.sub.ref(t)=(δt.sub.GNSS(t)−δ(t))

[0057] in which δt.sub.GNSS(t) represents the actual drift of the clock of the constellation of satellites 101 calculated at a time t and δ(t) represents a value of the actual drift of the clock of the receiver 103 at the said time t. The reference clock bias CB.sub.ref(t) is therefore determined at this time t. It is delivered by the receiver 103 following the calculation of the PVT information. The reference clock bias corresponds to a relative drift which is accessible, in contrast to the absolute drift values.

[0058] It will be noted that, if the drift of the clock of the receiver 103 with respect to the clock of the constellation of satellites 101 is known or estimated, it is possible to predict, at any time t′>t, the reference value CB.sub.ref(t′), where CB.sub.ref(t′)=CB.sub.ref(t)+Δ.sub.tt′, with Δ.sub.tt′ a variation of the clock bias between t and t′. This variation of the clock bias is linked to the relative drift of the clock 103 with respect to the clock of the constellation of satellites 101.

[0059] At this time t′, the receiver 103 receives an input signal in a reception step E1. This input signal comprises information on the clock of the emitter of this input signal.

[0060] In a step E2, the receiver carries out a determination of a time difference between the clock of the receiver and the clock of the emitter of the input signal at this time t′. This time difference, delivered by the receiver following the PVT calculation, is called determined clock bias CB.sub.det(t′).

[0061] Two cases are then possible:

[0062] First case: the input signal is a signal 105 coming from the satellite 101 and there is therefore no decoy attack. The determined clock bias CB.sub.det(t′) corresponds to the reference clock bias at the time t′: CB.sub.ref(t′).

[0063] Second case: the input signal is a signal 106 coming from the decoy 102. The clock bias determined at this time t′ is expressed in the following manner:

CB.sub.det(t′)=(δ.sub.S(t′)−δ(t′))

in which δ.sub.S(t′) represents a value of the drift of the clock of the decoy 102 at a time t′ and δ(t′) represents a value of the actual drift of the clock of the receiver 103 at the said time t′.

[0064] In this second case, CB.sub.det(t′) is different from CB.sub.ref(t′) (which characterizes a decoy attack). It will be noted that, in the following, the time t′ is called time to of the start of the decoy attack.

[0065] For any time t″ since the time to of the start of the decoy attack, the clock bias delivered by the receiver 103, after the calculation of the PVT information, is expressed as:

CB(t″)=(δ.sub.S(t″)−δ(t″))

[0066] In the case of a single-point coherent decoy, the term δ.sub.S(t″) is the sum of a component linked to an actual drift δt.sub.S(t″) and of a component linked to the decoy/receiver travel time (d(S, P(t″))/c, according to the equation:

[00001]${\delta }_s\left(t^{″}\right)=\frac{d\left(S,P\left(t^{″}\right)\right)}{c}+{\delta }_s\left(t^{″}\right)$

[0067] in which c corresponds to the speed of light.

[0068] In a step E4, the receiver 103 estimates, at each time t″ since the detection of the decoy attack t.sub.0, an estimated bias δt.sub.S(t″)−δ(t″) of its clock with respect to the clock of the decoy 102. This bias is estimated according to the equation:

δt.sub.S(t″)−δ(t″)D.Math.t″+(δt.sub.S(t.sub.0)−δ(t.sub.0))

[0069] in which, D corresponds to an estimated drift of the clock of the receiver with respect to the clock of the decoy 102. This estimated drift is known notably if the actual drift of the clock of the receiver with respect to the constellation of satellites 101 is estimated prior to the detection of the attack and the drift of the clock of the decoy (representing a false constellation) with respect to the true constellation is negligible. This is notably the case when the clock of the decoy 102 is closed-loop controlled to the clock of the constellation of satellites 101 or is estimated based on the observation of the clock bias delivered by the receiver.

[0070] In a step E5, the method determines a corrected clock bias CB.sub.corr(t″) by subtracting from the clock bias delivered by the receiver 103 the bias δt.sub.S(t″)−δ(t″) estimated at the step E4. This corrected clock bias corresponds to the equation:

CB.sub.corr(t″)=(δ.sub.S(t″)−S(t″))−δ.sub.tS(t″)−δ(t″))

In a step E6, a position of the decoy 102 is determined. For this purpose, the receiver 103 differentiates the corrected clock bias at the time t″ with the corrected clock bias at the time t.sub.0, which gives a TDOA measurement between the position of the decoy 102 and the position of the vehicle at the time to and at the time t″ according to the equations:

[00002]${\mathrm{CB}}_{\mathrm{corr}}\left(t^{″}\right)-{\mathrm{CB}}_{\mathrm{corr}}\left(t0\right)=\left({\delta }_S\left(t\right)-\delta \mathrm{ts}\left(t\right)\right)-\left({\delta }_S\left(t0\right)-\delta \mathrm{ts}\left(t0\right)\right)$${\mathrm{CB}}_{\mathrm{corr}}\left(t^{″}\right)-{\mathrm{CB}}_{\mathrm{corr}}\left(t0\right)=\frac{d\left(S,P\left(t^{″}\right)\right)}{c}-\frac{d\left(S,P\left(t0\right)\right)}{c}$${\mathrm{CB}}_{\mathrm{corr}}\left(t^{″}\right)-{\mathrm{CB}}_{\mathrm{corr}}\left(t0\right)={\mathrm{TDOA}}_{t,t0}$

[0071] These differential measurements, of the TDOA type, performed at several moments in time, allow the 2D or 3D localization of the decoy by any given multilateration method. Localization by TDOA multilateration is a localization technique based on the measurement of the times of arrival of waves with a known speed of propagation.

[0072] FIG. 3 illustrates a device 20 for determining the position of the decoy 102, this device being designed to be placed either in the receiver 103 or in the navigation system of the platform using the PVT data delivered by the receiver 103. The determination device 20 comprises an antenna 201 designed to receive a signal 105 coming from the constellation of satellites 101 or a signal 106 coming from the decoy 102. The determination device 20 also comprises a module 202 for determining an attack by the decoy 102. More particularly, this determination module 202 comprises a block 2021 for determining a time difference between the clock of the receiver 103 and the clock of the emitter (satellite 101 or decoy 102) at a time t′ referred to as determined clock bias CB.sub.det(t′) and, if the determined clock bias is different from the reference clock bias CB.sub.ref(t′), then the emitter is a decoy 102. The time t′ corresponds to the time to of the start of the attack. The determination device 20 also comprises a block 203 for estimating the drift D of the clock of the receiver using data of the input signal 106 coming from the decoy 102 at a time t″. This input signal 106 comprises information on the clock of the decoy 102. The determination device 20 comprises, furthermore, a block 204 for determining the clock bias between the receiver 103 and the decoy 102, referred to as corrected clock bias CB.sub.corr(t″). This corrected clock bias is determined from the estimated bias δt.sub.S(t″)−δ(t″) of the clock of the receiver 103. It will be noted that the determination block 204 is capable of determining other corrected clock biases, for example a corrected clock bias CB.sub.corr(t′″) at a time t′″ or a corrected clock bias CB.sub.corr(t″″) at a time t″″ with t″″>t′″>t″.

[0073] Finally, the determination device 20 comprises a block for differential measurements and for localization 205 using the three corrected clock biases CB.sub.corr(t″), CB.sub.corr (t′″), CB.sub.corr (t″″) to determine the position of the decoy 102.

[0074] FIGS. 4, 5 and 6 illustrate a second embodiment of the invention. In this second embodiment, the signals from the constellation of satellites 101 are received by a plurality of receivers 103.sub.1, . . . 103.sub.j, . . . 103.sub.N.

[0075] FIG. 4 illustrates an attack by a decoy 102 aimed at a plurality of receivers 103.sub.1, . . . 103.sub.j, . . . 103.sub.N. The receivers are for example placed in a swarm of drones designed to communicate with one another. Each receiver 103.sub.1, . . . 103.sub.j, . . . 103.sub.N is designed to receive an authentic signal 105 coming from a satellite 101 of a satellite radionavigation system. The authentic signal 105 allows the receivers 103.sub.1, . . . 103.sub.j, . . . 103.sub.N to know the real localizations 109.sub.1, . . . 109.sub.j, . . . 109.sub.N of the drones transporting them.

[0076] During the attack, a malicious person 108 tries to replace the authentic signal 105 with a malicious input signal 106 at the receivers 103.sub.1, . . . , 103.sub.j, . . . 103.sub.N. In one type of attack, the malicious signal 106 has a power higher than the authentic signal 105 at the receivers 103.sub.1, . . . 103.sub.j, . . . 103.sub.N. Accordingly, the authentic signal 105 is “smothered” by the malicious signal 106 and the receivers 103.sub.1, . . . 103.sub.j, . . . 103.sub.N only now “hear” this malicious signal 106. The malicious signal 106 can then transmit erroneous information in order for the receivers 103.sub.1, . . . 103.sub.j, . . . 103.sub.N to determine dummy localizations 110.sub.1, . . . , 110.sub.j, . . . 110.sub.N shifted with respect to the real localizations 109.sub.1, . . . , 109.sub.j, . . . 109.sub.N.

[0077] FIG. 5 illustrates the various steps of a method for determining the position of the decoy 102 using a j.sup.th receiver 103.sub.j of the assembly of receivers 103.sub.1, . . . 103.sub.j, . . . 103.sub.N.

[0078] As has already been stated, the receiver 103j is designed to receive signals coming from a constellation of satellites 101 of a reference GNSS radionavigation system. This receiver 103j and this constellation of satellites 101 each possess an internal clock. In the case of the constellation of satellites 101, the internal clock of this constellation is also called reference clock. The clock of the receiver 103.sub.j and the reference clock of the constellation of satellites 101 exhibit a time difference, referred to as reference clock bias (CB.sub.jref(t)) determined at a time t.

[0079] Furthermore, for reasons of production costs, the clock of the receiver has, in general, a much lower performance specification than the reference clock of the constellation of satellites. This clock of the receiver is thus subject to relatively large drifts over time with respect to the reference clock of the constellation of satellites 101.

[0080] For this second embodiment, the assumptions are as follows:

[0081] the decoy 102 is a single-point coherent decoy: it represents a false constellation co-localized at a fixed position S on the ground;

[0082] there exist several receivers j, each receiver being carried by a mobile drone and P.sub.j(t) is the position of the j.sup.th receiver 103.sub.j at a time t;

[0083] the drifts D.sub.j of the clock of the j.sup.th receiver 103.sub.j with respect to the clock of the constellation of satellites 101 is known or estimated prior to the decoy attack and predictable in the short term;

[0084] the reference clock bias CB.sub.jref(t) between the clock of the j.sup.th receiver 103.sub.j and the clock of the constellation of satellites 101, delivered by the receiver at a time t, is expressed in the following manner:

CB.sub.jref(t)=(δt.sub.GNSS(t)−δ.sub.j(t))

[0085] in which δt.sub.GNSS(t) represents the actual drift of the clock of the constellation of satellites 101 at a time t and δ.sub.j(t) is the actual drift of the clock of the j.sup.th receiver 103.sub.j at the said time t. The reference clock bias CB.sub.jref is therefore determined at this time t. It is delivered by the j.sup.th receiver 103.sub.j following the calculation of the PVT information.

[0086] It will be noted that, at any time t′>t, it is possible to determine a reference value CB.sub.jref(t′) such that CB.sub.jref(t′)=CB.sub.jref(t)+Δ.sub.tt′=D.sub.j.Math.(t′−t), with Δ.sub.tt′ a variation of the clock bias between t and t′. This variation of the clock bias is linked to the drift of the clock of the receiver 103j with respect to the clock of the satellite 101. As has already been stated, this drift is known or estimated and hence predictable in the short term. It will also be noted that the drift D.sub.j of the clock of the receiver 103 with respect to the clock of the constellation is estimated using the clock biases delivered by the receiver in a step E4 which precedes the decoy attack. This allows the relative drift of the receiver at each time t″ to be predicted according to the equation: [0087] δ.sub.S(t″)−δ(t″)=D.sub.j(t″−t.sub.0)+(δ.sub.S(t.sub.0)−δj(t.sub.0)) where to corresponds to the time of the decoy attack 102.

[0088] At a time t′>t, the receiver 103j receives an input signal in a reception step E1. This input signal comprises information on the clock of the emitter of this input signal.

[0089] In a step E2, the receiver carries out a determination of a time difference between the clock of the receiver and the clock of the emitter of the input signal at this time t′. This time difference is called determined clock bias CB.sub.jdet(t′).

[0090] Two cases are then possible:

[0091] First case: the input signal is a signal 105 coming from the satellite 101. The determined clock bias CB.sub.jdet(t′) corresponds to the reference clock bias at the time t′, CB.sub.jref(t′), and there is no decoy attack.

[0092] Second case: the input signal is a signal 106 coming from the decoy 102. The clock bias delivered by the receiver, at this time t′, is expressed as:

CB.sub.jdet(t′)=(δ.sub.S(t′)−δ.sub.j(t′))

[0093] in which δ.sub.S(t′) represents a value of the clock of the decoy 102 as seen by the receiver at a time t′ and δ.sub.j(t′) represents a value of the actual drift of the clock of the j.sup.th receiver 103 at the said time t′.

[0094] In this second case, CB.sub.jdet(t′) is therefore different from CB.sub.jref(t′) which characterizes a decoy attack. It will be noted that, in the following, the time t′ corresponds to a time to of the start of the decoy attack.

[0095] For any time t″ since the time to of the start of the decoy attack, it is possible to use the clock bias delivered by the receiver 103 with respect to the decoy 102 which is expressed as:

CB.sub.j(t″)=(δ.sub.S(t″)−δ.sub.j(t″))

[0096] In the case of a single-point coherent decoy, the term δ.sub.S(t″) is the sum of a component linked to an actual drift δt.sub.S(t″) and of a component linked to the decoy/receiver travel time (d(S, P.sub.j(t″))/c, according to the equation:

[00003]${\delta }_S\left(t^{″}\right)-\frac{d\left(S,P_j\left(t^{″}\right)\right)}{c}+\delta t_s\left(t^{″}\right)$

[0097] in which c corresponds to the speed of light.

[0098] In a step E5, the method determines a corrected clock bias CB.sub.jcorr(t″) by subtracting from the clock bias CB.sub.j(t″), delivered by the receiver 103, the difference (δt.sub.GNSS(t″)−δ.sub.j(t)) calculated using the drift D.sub.j estimated at the step E4. This corrected clock bias corresponds to the following equations:

[00004]${\mathrm{CB}}_{\mathrm{jcorr}}\left(t^{″}\right)={\mathrm{CB}}_j\left(t^{″}\right)-D_j\left(t^{″}-t0\right)-\left(\delta t_{\mathrm{GNSS}}\left(t0\right)-{\delta }_j\left(t0\right)\right)$${\mathrm{CB}}_{\mathrm{jcorr}}\left(t^{″}\right)\approx ({\delta }_S\left(t^{″}\right)-{\delta }_j\left(t^{″}\right)-\left(\delta t_{\mathrm{GNSS}}\left(t^{″}\right)-{\delta }_j\left(t^{″}\right)\right)\mathrm{with}({\delta }_S\left(t^{″}\right)-{\delta }_j\left(t^{″}\right)-\left(\delta t_{\mathrm{GNSS}}\left(t^{″}\right)-{\delta }_j\left(t^{″}\right)\right)=\frac{d\left(S,P_j\left(t^{″}\right)\right)}{c}+\delta t_s\left(t^{″}\right)-\delta t_{\mathrm{GNSS}}\left(t^{″}\right)$

[0099] In a step E6, each drone transmits the corrected clock bias via the radiocommunications network either to the other drones (in a decentralized architecture) or to a master drone (in a centralized architecture). The master drone or each drone of the swarm calculates TDOA measurements by differentiating the preceding quantities between receivers, for example, between a receiver j1 and a receiver ji according to the following equations:

[00005]${\mathrm{CB}}_{j1\mathrm{corr}}\left(t^{″}\right)-{\mathrm{CB}}_{\mathrm{jicorr}}\left(t^{″}\right)=\frac{d\left(S,P_{j1}\left(t^{″}\right)\right)}{c}-\frac{d\left(S,P_{\mathrm{ji}}\left(t^{″}\right)\right)}{c}={\mathrm{TDOA}}_{j1,\mathrm{ji}}$

[0100] These differential measurements of the TDOA type allow, with the caveat that at least three drones are decoyed and transmit the corrected clock biases, the 2D or 3D localization of the decoy by any given multilateration method.

[0101] For the first embodiment and for the second embodiment, if the platforms are mobile and are moving sufficiently quickly, it is possible to improve the determination of the position of the decoy 102 during a step E7 for exploiting Doppler measurements. These Doppler measurements are delivered by the receiver 103; 103.sub.j either directly or deduced from the radial velocities according to the equation:

[00006]${\mathrm{FOA}}_{t^{″}}=\mathrm{Fe}+\frac{{\mathrm{Vr}}_{t^{″}}}{c}\mathrm{Fe}$

[0102] in which Fe is the frequency of the signal received and Vr.sub.t″ the radial velocity at the time t″.

[0103] Since the decoy is assumed to be fixed, here, the Doppler results only from the motion of the vehicle (first embodiment) or from the drone (second embodiment).

[0104] If the vehicle is following a uniform rectilinear path, it is then possible to apply a localization of the FDS (for Frequency Doppler Shift) type, by potentially carrying out a manoeuvre to lift the left-right ambiguity.

[0105] FIG. 3 illustrates a device 20 for determining the position of the decoy 102, this device being designed to be placed either in the receiver 103 or in the navigation system of the platform exploiting the PVT data delivered by the receiver. The determination device 20 comprises an antenna 201 designed to receive a signal 105 coming from the constellation of satellites 101 or a signal 106 coming from the decoy 102. The determination device 20 also comprises a module 202 for determining an attack by the decoy 102. More particularly, this determination module 202 comprises a block 2021 for determining a time difference between the clock of the receiver 103 and the clock of the emitter (satellite 101 or decoy 102) at a time t′ referred to as determined clock bias CB.sub.jdet(t′), and if the determined clock bias is different from the reference clock bias CB.sub.jref(t′) then the emitter is a decoy 102. The time t′ corresponds to the time to of the start of the attack. The determination device 20 also comprises a block 203 for estimating the drift D.sub.j of the clock of a receiver j using data of the input signal 105 coming from the constellation of satellites 101 at a time t″. This input signal 105 comprises information on the clock of the constellation of satellites 101. The estimation block 203 is disposed in parallel with the determination module 202. This block 203 is supplied by the antenna 201. The determination device 20 comprises, furthermore, a block 204 for determining the clock bias between the receiver 103 and the constellation of satellites 101, referred to as corrected clock bias CB.sub.jcorr(t″). This corrected clock bias is determined using the estimated bias δt.sub.GNSS(t″)−δ.sub.j(t″) of the clock of the receiver supplied by the estimation block 203. The determination block 204 is also designed to receive corrected clock biases CB.sub.kcorr(t″), CB.sub.lcorr(t″) coming from other drones.

[0106] Lastly, the determination device 20 comprises a block for differential measurements and for localization 205. This block 205 is designed to receive the corrected clock bias CB.sub.jcorr(t″) of the j.sup.th receiver 103j. This block 205 is also designed to receive a corrected clock bias CB.sub.kcorr(t″) coming from a k.sup.th receiver 103.sub.k and a corrected clock bias CB.sub.lcorr(t″) coming from an l.sup.th receiver 103.sub.l. Using the corrected clock biases CB.sub.jcorr(t″), CB.sub.kcorr(t″), CB.sub.lcorr(t″), the block 205 determines the position of the decoy 102.

[0107] Another subject of the invention relates to a computer program product, also referred to as software, comprising program instructions usable by the device 20 for determining the position of the decoy 102 which, when they are executed or interpreted by the determination device 20, trigger the implementation of the method for determining the position of the decoy 102 in a vehicle or an aircraft. This software is, for example, introduced in the form of a “add-on” in the receiver or in a navigation system of the platform using the information delivered by the GNSS receiver.

[0108] The invention is not limited to the embodiments and variants described and other embodiments and variants will become clearly apparent to those skilled in the art.

[0109] Thus, the invention is also applicable when the decoy is mobile. At each measurement cycle, the position of the decoy will be determined, which will allow a genuine “tracking” of this decoy to be carried out.

[0110] Thus, it is possible to determine a decoy attack other than by a detection of a jump of the clock bias.