基于Kalman滤波的持续卫星时间同步攻击防护方法

刘亮; 苏盛; 曹一家; 匡文凯; 蔡晔; 张恒

doi:10.7500/AEPS20190704004

您当前的位置：

首页 >

文章列表页 >

基于Kalman滤波的持续卫星时间同步攻击防护方法

研制与开发 | 更新时间：2025-06-16

- 基于Kalman滤波的持续卫星时间同步攻击防护方法
- Kalman Filtering Based Protection Method of Sustained Satellite Time Synchronization Attack
- 电力系统自动化-方正平台 2020年44卷第10期页码：119-126
- 作者机构：
  
  清洁能源与智能电网湖南省协同创新中心（长沙理工大学)，湖南省长沙市 410004
- 作者简介：
  
  刘亮(1996—)，男，通信作者，硕士研究生，主要研究方向：电力系统网络安全防护。E-mail:961292501@qq.com
  苏盛(1975—)，男，教授，主要研究方向：电力系统网络安全防护。E-mail：eessheng@163.com
  曹一家(1969—)，男，教授，博士生导师，主要研究方向：电力信息集成与网络化控制。E-mail：yjcao@csust.edu.cn
- 基金信息：
  
  国家自然科学基金资助项目(51777015);国家自然科学基金委员会-国家电网公司智能电网联合基金资助项目(U196620027);国家重点研发计划资助项目(2018YFB0904903)
- DOI：10.7500/AEPS20190704004
  中图分类号：
- 收稿日期：2019-07-04，
  
  修回日期：2019-10-13，
  
  网络出版日期：2020-04-01，
  
  纸质出版日期：2020-05-25
- 稿件说明：
移动端阅览
刘亮,苏盛,曹一家等.基于Kalman滤波的持续卫星时间同步攻击防护方法[J].电力系统自动化,2020,44(10):119-126.

LIU Liang,SU Sheng,CAO Yijia,et al.Kalman Filtering Based Protection Method of Sustained Satellite Time Synchronization Attack[J].Automation of Electric Power Systems,2020,44(10):119-126.
刘亮,苏盛,曹一家等.基于Kalman滤波的持续卫星时间同步攻击防护方法[J].电力系统自动化,2020,44(10):119-126. DOI： 10.7500/AEPS20190704004.

LIU Liang,SU Sheng,CAO Yijia,et al.Kalman Filtering Based Protection Method of Sustained Satellite Time Synchronization Attack[J].Automation of Electric Power Systems,2020,44(10):119-126. DOI： 10.7500/AEPS20190704004.

摘要

随着网络空间对抗加剧，借助全球卫星导航系统进行的网络攻击已发展成为现实威胁。慢速持续型卫星时间同步攻击可绕过电力时间同步系统中卫星时钟异常检测机制，诱骗被授时设备输出错误时间信息，再借助电力系统工作机制达成攻击破坏后果。提出了一种基于Kalman滤波的持续卫星时间同步攻击防护方法。首先构建了考虑持续时间干扰的Kalman滤波卫星授时模型；然后利用能量泛函正则化最优化估算恶意攻击下被授时设备的时钟偏差；最后根据所构建的补偿模型对钟差进行补偿、实现遭攻击条件下的精准时间同步。仿真结果表明，该方法可有效防范慢速持续型卫星时间同步攻击对电力时间同步系统的影响。

Abstract

Cyber-attack by the global navigation satellite system has become a real threat with the intensification of attack in cyber space. The slow sustained satellite time synchronization attack can bypass the anomaly detection mechanism of existing satellite clock

trick the timed device to output an incorrect clock signal

and cause serious damage via operation mechanism of the power system. A Kalman filtering based protection method of sustained satellite time synchronization attack is proposed. Firstly

a Kalman filtering based satellite timing model considering sustained malicious interference is developed. Then

clock bias of time synchronism device in malicious attack is optimized by energy functional regularization. Finally

the clock bias is compensated according to the constructed compensation model to achieve precise time synchronization in attack. Simulation results show that this method can effectively prevent the impact of slow sustained satellite time synchronization attacks on the time synchronism system.

关键词

Keywords

references

杨挺 , 翟峰 , 赵英杰 , 等 . 泛在电力物联网释义与研究展望 [J]. 电力系统自动化 , 2019 , 43 ( 13 ): 9 - 20 .

YANG Ting , ZHAI Feng , ZHAO Yingjie , et al . Explanation and prospect of ubiquitous power Internet of Things [J]. Automation of Electric Power Systems , 2019 , 43 ( 13 ): 9 - 20 .

赵廷 , 李泽文 , 邹彬 , 等 . 卫星时钟与网络时钟互备的广域时间同步方法 [J]. 电力系统自动化 , 2017 , 41 ( 14 ): 202 - 207 .

ZHAO Ting , LI Zewen , ZOU Bin , et al . Wide-area time synchronization method for mutual preparation of satellite clock and network clock [J]. Automation of Electric Power Systems , 2017 , 41 ( 14 ): 202 - 207 .

张道农 , 于跃海 . 电力系统时间同步技术 [M]. 北京：中国电力出版 , 2017 .

ZHANG Daonong , YU Yuehai . Time synchronization technology in power system [M]. Beijing : China Electric Power Press , 2017 .

周水斌 , 尹明 , 闫志辉 , 等 . 时间同步装置的高稳定性输出设计方法 [J]. 电力系统自动化 , 2017 , 41 ( 12 ): 200 - 205 .

ZHOU Shuibin , YIN Ming , YAN Zhihui , et al . Design method for high-stability output of time synchronization device [J]. Automation of Electric Power Systems , 2017 , 41 ( 12 ): 200 - 205 .

黄捷 . 电力系统时间同步监测技术研究与实现 [D]. 广州：华南理工大学 , 2016 .

HUANG Jie . Research and implementation of power system time synchronization monitoring technology [D]. Guangzhou : South China University of Technology , 2016 .

李信 , 滕玲 , 熊洪樟 , 等 . 电力时间同步系统在线监测方案 [J]. 中国电力 , 2015 , 48 ( 12 ): 12 - 15 .

LI Xin , TENG Ling , XIONG Hongzhang , et al . Research on on-line monitoring scheme of power time synchronization system [J]. China Electric Power , 2015 , 48 ( 12 ): 12 - 15 .

MOUSSA B , DEBBABM C . Security assessment of time synchronization mechanisms for the smart grid [J]. IEEE Communications Surveys & Tutorials , 2016 , 18 ( 3 ): 1952 - 1973 .

FAN Xiaoyuan , DU Liang . Synchrophasor data correction under GPS spoofing attack: a state estimation based approach [J]. IEEE Transactions on Smart Grid , 2018 , 9 ( 5 ): 4538 - 4546 .

WANG Yongqiang . Distributed estimation of power system oscillation modes under attacks on GPS clocks [J]. IEEE Transactions on Instrumentation and Measurement , 2018 , 67 ( 7 ): 1626 - 1637 .

张鑫 . 卫星导航欺骗干扰信号检测技术综述 [J]. 全球定位系统 , 2018 , 43 ( 6 ): 1 - 7 .

ZHANG Xin . Overview of satellite navigation spoofing signal detection technology [J]. Global Positioning System ， 2018 ， 43 ( 6 )： 1 - 7 .

Model 1088 b GPS satellite clock 40 ns) [EB/OL]. [ 2019-02-20 ]. http://www.arbiter.com/catalog/product/model-1088b-gps-satellite-precisiontime-clock-40ns.php http://www.arbiter.com/catalog/product/model-1088b-gps-satellite-precisiontime-clock-40ns.php .

HUMPGREYS T E , LEDVINA B M . Assessing the spoofing threat: development of a portable GPS civilian spoofer [EB/OL]. [ 2018-10-01 ]. https://www.docin.com/p-1773585378.html https://www.docin.com/p-1773585378.html .

中华人民共和国国家质量监督检验检疫总局 . 智能变电站时间同步系统及设备技术规范:GB∕T 33591—2017[S].2017 .

General Administration of Quality Supervision and Quarantine of the People’s Republic of China . Technical specification of time synchronism system and equipment in smart substation: GB∕T 33591—2017[S]. 2017 .

国家电网公司 . 电力系统时间同步及检测技术规范:Q/GDW 11539—2016[S].2016 .

State Grid Corporation of China . Power system time synchronization and detection technical specification: Q/GDW 11539—2016[S]. 2016 .

中国南方电网有限责任公司 . 数字及时间同步系统技术规范:Q/CSG 203023—2017[S].2017 .

China Southern Power Grid Co , Ltd . Technical specification for digital and time synchronous systems: Q/CSG 203023—2017[S]. 2017 .

SHEPARD D . P, HUMPGREYS T . E . Evaluation of the vulnerability of phasor measurement units to GPS spoofing attacks [J/OL]. International Journal of Critical Infrastructure Protection [ 2018-10-02 ]. http://www.docin.com/p-1358325513.html http://www.docin.com/p-1358325513.html .

BHATTI J , HUMPGREYS T E . Hostile control of ships via false GPS signals: demonstration and detection [J]. Journal of the Institute of Navigation , 2017 , 64 ( 1 ): 51 - 66 .

RIVERA E , GU G F . A study on unmanned vehicles and cyber security [J]. The Journal of Defense Modeling and Simulation: Application , Methodology , Technology , 2015 , 12 ( 4 ): 1 - 7 .

CAPORALI A , NICOLINI L . Interoperability of the GNSS’s for positioning and timing [J/OL]. New Advanced GNSS and 3 D Spatial Techniques[ 2018-10-01 ]. http://www.doc88.com/p-5196415388292.html http://www.doc88.com/p-5196415388292.html .

韩玉强 . 智能电网卫星同步时钟的误差分析与修正方法研究 [D]. 北京：华北电力大学 , 2016 .

HAN Yuqiang . Error analysis and correction method of smart grid satellite synchronous clock [D]. Beijing ： North China Electric Power University , 2016 .

FAN Xiaoyuan , DU Liang , DUAN Dongliang . Synchrophasor data correction under GPS spoofing attack: a state estimation based approach [J]. IEEE Transactions on Smart Grid , 2018 , 9 ( 5 ): 4538 - 4546 .

ALMAS M S . Vulnerability of synchrophasor-based WAMPAC applications to time synchronization spoofing [J]. IEEE Transactions on Smart Grid , 2018 , 9 ( 5 ): 4601 - 4612 .

MARK L , HUMPGREYS T E . GNSS spoofing and detection [J]. Proceedings of the IEEE , 2016 , 104 ( 6 ): 1258 - 1270 .

ZHANG Z , GONG S , DIMITROVSKI A D . Time synchronization attack in smart grid: impact and analysis [J]. IEEE Transactions on Smart Grid , 2013 , 4 ( 1 ): 87 - 98 .

WESSON K D , GROSS J N , HUMPGREYS T E . GNSS signal authentication via power and distortion monitoring [J]. IEEE Transactions on Aerospace and Electronic Systems , 2018 , 54 ( 2 ): 739 - 754 .

PAPADIMITRATOS P , JOVANOVIC A . GNSS-based positioning: attacks and countermeasures [C]// IEEE Military Communications Conference, November 16-19 , 2008 , San Diego , USA .

KHALAJMEHRABADI A , GATSIS N , AKOPIAN D , et al . Real-time rejection and mitigation of time synchronization attacks on the global positioning system [J]. IEEE Transactions on Industrial Electronics ， 2018 ， 65 ( 8 )： 6425 - 6435 .

ZHU F , HAMOUDA W . Detection techniques for data-level spoofing in GPS-based phasor measurement units [C]// 2016 International Conference on Selected Topics in Mobile & Wireless Networking , April 11 - 13 , 2016 , Cairo, Egypt: 1 - 8 .

张道农 , 于跃海 . 电力系统同步相量测量技术及应用 [M]. 北京：中国电力出版社 , 2018 .

ZHANG Daonong , YU Yuehai . Synchronous phasor measurement technology and application in power system [M]. Beijing : China Electric Power Press , 2018 .

王宾 , 孙华东 , 张道农 . 配电网信息共享与同步相量测量应用技术评述 [J]. 中国电机工程学报 , 2015 , 35 ( 增刊1 ): 1 - 7 .

WANG Bin , SUN Huadong , ZHANG Daonong . A review of application technology of distribution network information sharing and synchronous phasor measurement [J]. Proceedings of the CSEE ， 2015 ， 35 (Supplement 1 )： 1 - 7 .

徐凯 , 毕天姝 , 郭津瑞 , 等 . 卫星同步授时偏差对PMU量测的影响 [J]. 电网技术 , 2015 , 39 ( 5 ): 1323 - 1328 .

XU Kai , BI Tianshu , GUO Jinrui , et al . Impact of time service synchronization deviation on PMU measurement [J]. Power System Technology , 2015 , 39 ( 5 ): 1323 - 1328 .

ANDERSON D . GridCloud: infrastructure for cloud-based wide area monitoring of bulk electric power grids [J]. IEEE Transactions on Smart Grid , 2019 , 10 ( 2 ): 2170 - 2179 .

谢钢 . GPS原理与接收机设计 [M]. 北京 : 电子工业出版社 , 2009 .

XIE Gang . GPS principle and receiver design [M]. Beijing : Publishing House of Electronics Industry , 2009 .

PARKINSON B W , SPILKER J J . Global positioning system: theory and applications [M]. Washington DC , USA: American Institute of Astronautics and Aeronautics , 1996 .

MISRA P , ENGE P . Global positioning system: signals, measurements, and performance [M]. 2nd ed . Lincoln , USA: Ganga-Jamuna Press , 2006 .

GIORGI G . An event-based Kalman filter for clock synchronization [J]. IEEE Transactions on Instrumentation and Measurement ， 2015 ， 64 ( 2 )： 449 - 457 .

黄小平 , 王岩 . 卡尔曼滤波原理及应用:MATLAB仿真 [M]. 北京：电子工业出版社 , 2015 .

HUANG Xiaoping , WANG Yan . Principle and application of Kalman filter: MATLAB simulation [M]. Beijing ： Electronic Industry Press , 2015 .

WANG Jingxuan , TU Wenting , HUI L C K , et al . Detecting time synchronization attacks in cyber-physical systems with machine learning techniques [C]// IEEE 37th International Conference on Distributed Computing Systems (ICDCS) , June 5 - 8 , 2017 , Atlanta, USA: 2246 - 2251 .

LIU Y , LI S , FU Q , et al . Analysis of Kalman filter innovation-based GNSS spoofing detection method for INS/GNSS integrated navigation system [J]. IEEE Sensors Journal ， 2019 ， 19 ( 13 )： 5167 - 5178 .

廖安平 . 线性流形上矩阵方程 AX = B 的一类反问题及数值解法 [J]. 计算数学 , 1998 ( 4 ): 371 - 376 .

LIAO Anping . A class of inverse problems and numerical solutions of matrix equation AX = B on linear manifold [J]. Chinese Journal of Computational Mathematics , 1998 ( 4 ): 371 - 376 .

李泽文 , 杜昱东 , 林依勤 , 等 . 结合Tikhonov正则化的电压行波精确检测方法 [J]. 电网技术 , 2019 , 43 ( 3 ): 1049 - 1055 .

LI Zewen , DU Yudong , LIN Yiqin , et al . A method of voltage wave accurate detection based on Tikhonov regularization theory [J]. Power System Technology , 2019 , 43 ( 3 ): 1049 - 1055 .

李旭超 . 能量泛函正则化模型理论分析及应用 [M]. 北京：科学出版社 , 2018 .

LI Xuchao . Theoretical analysis and application of energy functional regularization model [M]. Beijing : Science Press , 2018 .

徐天博 . 框架理论及其在信号处理中的应用 [D]. 大连：大连海事大学 , 2008 .

XU Tianbo . Frame theory and its application in signal processing [D]. Dalian ： Dalian Maritime University , 2008 .

FAN Xiaoyu , LIAN Qiusheng , SHI Baoshun . Compressed sensing MRI with phase noise disturbance based on adaptive tight frame and total variation [J]. IEEE Access ， 2017 , 5 : 19311 - 19321 .

浏览量

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

面向电力-交通系统协同运行的建模、求解与应用评述

大扰动下电力系统频率安全概率指标初探

极端天气下电力系统风险管理及弹性提升的市场化机制设计

考虑动态分区可靠性约束的新能源电力系统备用优化模型