A mimic positioning method, device and mobile device

Abstract

The present invention provides a mimic positioning method, device and mobile device. The method comprises a position determiner, which performs pairwise subtraction on the position information output by all online positioning modules, and compares all the obtained difference values ​​with the positioning accuracy threshold value respectively; if the comparison result is that all the difference values ​​are less than the positioning accuracy threshold value, it is determined that the position acquisition is normal, and one position information is randomly selected and sent to a position output agent for processing; otherwise, it is determined that the position acquisition is abnormal, and a scheduling module is notified according to the comparison result to schedule at least one backup positioning module from the positioning pool to go online to obtain the position information, the position information of the newly online positioning module is subtracted from the position information of at most two online positioning modules, and then all the obtained difference values ​​are compared with the positioning accuracy threshold value respectively, the faulty positioning module is screened out according to the comparison result, and finally the position information of the online positioning module that has not failed is selected according to the screening result and sent to the position output agent for processing.

Description

Technical Field

[0001] The present invention relates to the field of positioning, and in particular to a mimic positioning method, device and mobile device. Background Art

[0002] At present, satellite navigation technology is becoming increasingly mature and plays an increasingly important role in the fields of intelligent driving, drones, data communications, etc. Most devices still use foreign navigation and positioning technology, which may have loopholes or backdoors at the software and hardware levels, causing device positioning failure or location spoofing. In this context, how to enhance the security and reliability of positioning is very important for improving the application of location-based services.

[0003] In order to solve the above problems, people have been seeking an ideal technical solution. Summary of the invention

[0004] The purpose of the present invention is to address the deficiencies in the prior art and to provide a mimic positioning method, device and mobile device, which solve the positioning failure or location deception problems caused by loopholes or backdoors in the navigation system, and improve the security and reliability of the navigation system positioning.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is: a mimic positioning method, comprising the following steps: in an initial state, 3 positioning modules are selected from 5 positioning modules in a positioning pool to be online as online positioning modules, and the remaining 2 positioning modules are backup positioning modules;

[0006] After receiving the location request signal sent by the location input agent, the online positioning module sends the acquired location information to the location determiner;

[0007] The position determiner performs pairwise subtraction of the position information output by all online positioning modules, and compares all the obtained differences with the positioning accuracy threshold respectively;

[0008] If the comparison result shows that all differences are less than the positioning accuracy threshold, the position acquisition is determined to be normal, and a position information is randomly selected and sent to the position output agent for processing;

[0009] Otherwise, it is determined that the location acquisition is abnormal. According to the comparison result, the scheduling module is notified to schedule at least one backup positioning module from the positioning pool to go online to obtain location information. After receiving the location information of the newly online positioning module, the location information of the newly online positioning module is subtracted from the location information of at most two online positioning modules. All the obtained differences are then compared with the positioning accuracy threshold respectively. The faulty positioning module is screened out according to the comparison result. Finally, the location information of the online positioning module that has not failed is selected according to the screening result and sent to the location output agent for processing.

[0010] A second aspect of the present invention provides a mimicry positioning device for executing the aforementioned mimicry positioning method.

[0011] A third aspect of the present invention provides a mobile device, comprising the aforementioned mimic positioning device.

[0012] Compared with the prior art, the present invention has outstanding substantive features and significant progress. Specifically, the present invention provides a mimicry positioning device, which introduces a mimicry defense mechanism into the traditional positioning system architecture, solves the problem of positioning failure or location deception caused by loopholes or backdoors in the software and hardware levels of foreign navigation equipment, and improves the security and reliability of the positioning system. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the process of the present invention Figure 1 .

[0014] Figure 2 This is a schematic diagram of the process of the present invention Figure 2 .

[0015] Figure 3 This is a schematic diagram of the process of the present invention Figure 3 . DETAILED DESCRIPTION

[0016] The technical solution of the present invention is further described in detail below through specific implementation methods.

[0017] like Figure 1-3 As shown, the present invention provides a mimic positioning method, comprising the following steps: in an initial state, three positioning modules are selected from five positioning modules in a positioning pool to be online as online positioning modules, and the remaining two positioning modules are backup positioning modules; specifically, the five positioning modules are a GPS positioning module, a Beidou positioning module, a Galileo positioning module, a Grenas positioning module, and a base station positioning module;

[0018] After receiving the location request signal sent by the location input agent, the online positioning module sends the acquired location information to the location determiner; specifically, the location information acquired by the first online positioning module is G1 (x1, y1, z1), the location information acquired by the second online positioning module is G2 (x2, y2, z2), and the location information acquired by the third online positioning module is G3 (x3, y3, z3);

[0019] The position decision device makes a difference between the position information output by all online positioning modules, and compares all the obtained differences with the positioning accuracy threshold respectively; specifically, A1=G1-G2, A2=G1-G3, A3=G2-G3, the positioning accuracy threshold is represented by δ, which can be selected according to user needs and user experience;

[0020] If the comparison result shows that all differences are less than the positioning accuracy threshold, the position acquisition is determined to be normal, and a position information is randomly selected and sent to the position output agent for processing;

[0021] Otherwise, it is determined that the location acquisition is abnormal. According to the comparison result, the scheduling module is notified to schedule at least one backup positioning module from the positioning pool to go online to obtain location information. After receiving the location information of the newly online positioning module, the location information of the newly online positioning module is subtracted from the location information of at most two online positioning modules. All the obtained differences are then compared with the positioning accuracy threshold respectively. The faulty positioning module is screened out according to the comparison result. Finally, the location information of the online positioning module that has not failed is selected according to the screening result and sent to the location output agent for processing.

[0022] The present invention provides a mimicry positioning method, which introduces a mimicry defense mechanism into the traditional positioning system architecture, solves the problem of positioning failure or position deception caused by loopholes or backdoors in the software and hardware levels of foreign navigation devices, and improves the security and reliability of the positioning system; and uses a polling replacement mechanism to verify the correctness of the online positioning module with a backup positioning module, further ensuring the accuracy of the positioning result.

[0023] In a specific implementation, when it is determined that the location acquisition is abnormal, the comparison result may be that 1 difference is greater than the positioning accuracy threshold, or 2 differences are greater than the positioning accuracy threshold, or 3 differences are greater than the positioning accuracy threshold; under different comparison results, the number of positioning modules scheduled online by the scheduling module from the positioning pool is also different.

[0024] Specifically, after determining that the location acquisition is abnormal, if the comparison result is that the two differences are greater than the positioning accuracy threshold, the location decision device notifies the scheduling module to randomly select a backup positioning module from the positioning pool to go online to obtain the location information G4 (x4, y4, z4), such as Figure 2As shown;

[0025] After receiving the location information of the newly online positioning module, the location determiner randomly selects the location information of two online positioning modules and the location information of the newly online positioning module to perform pairwise differences, and compares all the obtained differences with the positioning accuracy threshold δ respectively;

[0026] If the comparison result shows that all the differences are less than the positioning accuracy threshold δ, the unselected online positioning module is determined to be the fault positioning module, and the current step is exited; otherwise, the current step is repeated; wherein the combination of the two online positioning modules selected each time is different from the previous one;

[0027] When the location information of all online positioning modules is subtracted from the location information of the newly online positioning module, and the final comparison result does not satisfy that all differences are less than the positioning accuracy threshold, it is determined that the number of fault location modules is greater than 1.

[0028] For example, after receiving the position information G4 (x4, y4, z4), the position determiner randomly selects the position information G1 and G3 and performs pairwise subtraction with the position information G4 to obtain A4=G1-G4, A2=G1-G3, and A5=G4-G3; and compares A2, A4, and A5 with the positioning accuracy threshold δ respectively; since G4 is in a shutdown state before it goes online and is not attacked or interfered with, G4 is safe by default. Therefore, if the comparison result shows that all differences are less than the positioning accuracy threshold, it is determined that G1 and G3 are correct and safe, and the faulty online positioning device is is the unselected online positioning module G2; if the comparison result is that 3 differences are greater than the positioning accuracy threshold δ, then the faulty online positioning devices are determined to be G1 and G3; if the comparison result is that 2 differences are greater than the positioning accuracy threshold δ, for example, A2 and A4 are greater than δ, then the faulty online positioning device is determined to be G1; if A2 and A5 are greater than δ, then the faulty online positioning device is determined to be G3; if A4 and A5 are greater than δ, then the faulty online positioning devices are determined to be G1 and G3; if the comparison result is that 2 differences are greater than the positioning accuracy threshold δ, then the faulty online positioning devices are determined to be G1 and G3;

[0029] Since there are multiple possibilities, two different position information are selected again to perform pairwise subtraction with position information G4 (x4, y4, z4). For example, position information G1 and G2 are selected to perform pairwise subtraction with position information G4 to obtain A1=G1-G2, A4=G1-G4, and A6=G2-G4. A1, A4, and A6 are compared with the positioning accuracy threshold δ respectively. Since G4 is in a shutdown state before it goes online and is not attacked or interfered with, G4 is safe by default. Therefore, if the comparison result shows that all differences are less than the positioning accuracy threshold, G1 and G2 are judged to be correct and safe, and the faulty online positioning device is the unselected online positioning module G3.

[0030] If the comparison result is that the two differences are greater than the positioning accuracy threshold δ, then select 2 different position information from this time and perform pairwise subtraction with the position information G4 (x4, y4, z4), for example, select position information G2 and G3 and perform pairwise subtraction with the position information G4 to obtain A3=G2-G3, A6=G2-G4, A5=G4-G3; and compare A3, A5, A6 with the positioning accuracy threshold δ respectively; since G4 is in a shutdown state before going online and is not attacked or interfered with, G4 is safe by default. Therefore, if the comparison result is that all differences are less than the positioning accuracy threshold, it is determined that G2 and G3 are correct and safe, and the faulty online positioning device is the unselected online positioning module G1, otherwise it is determined that the faulty online positioning device is greater than 1.

[0031] Obviously, the above technical solution can identify whether there is only one fault location device through a maximum of three subtractions and three comparisons, and can quickly find the fault location device.

[0032] In another embodiment, Figure 3 As shown, after determining that the number of fault location modules is greater than 1, the following steps need to be performed: the location determiner notifies the scheduling module to bring another backup location module in the location pool online to obtain location information G5 (x5, y5, z5);

[0033] After receiving the position information of the second newly online actuator, the position determiner performs pairwise subtraction of the position information of one online positioning module and the position information of the two newly online positioning modules, and compares all the obtained differences with the positioning accuracy threshold respectively; if the comparison result shows that two differences are greater than the positioning accuracy threshold, the currently selected online positioning module is determined to be a fault positioning module, otherwise, the currently selected online positioning module is determined to be a non-fault positioning module;

[0034] Repeat the above steps, wherein the online positioning module selected each time is different from the previous one;

[0035] After the location information of all online positioning modules is subtracted from the location information of two newly online positioning modules, all the fault positioning modules that have been determined are the fault positioning modules that are finally screened out.

[0036] Specifically, after receiving the position information G5 (x5, y5, z5), the position decision device randomly selects the position information G1 and the position information G4 and G5 for pairwise difference, and obtains A4=G1-G4, A7=G1-G5, and A8=G4-G5; and compares A4, A7, and A8 with the positioning accuracy threshold δ respectively; since G4 and G5 are in a shutdown state before going online and are not attacked or interfered, G4 and G5 are safe by default, so if the comparison result is that all differences are less than the positioning accuracy threshold, G1 is determined to be correct and safe; if the comparison result is that there are 2 differences greater than the positioning accuracy threshold, the currently selected G1 is determined to be a fault location module;

[0037] Randomly select location information G2 again and make pairwise differences with location information G4 and G5 to obtain A6=G2-G4, A9=G2-G5, A8=G4-G5; and compare A6, A8, A9 with the positioning accuracy threshold δ respectively; since G4 and G5 were in a shutdown state before going online and were not attacked or interfered, G4 and G5 are safe by default. Therefore, if the comparison result is that all differences are less than the positioning accuracy threshold, G2 is judged to be correct and safe; if the comparison result is that there are 2 differences greater than the positioning accuracy threshold, the currently selected G2 is judged to be the fault location module;

[0038] Select the location information G3 again and make pairwise differences with the location information G4 and G5 to obtain A5=G3-G4, A10=G3-G5, A8=G4-G5; and compare A5, A8, A10 with the positioning accuracy threshold δ respectively; since G4 and G5 were in a shutdown state before going online and were not attacked or interfered with, G4 and G5 are safe by default. Therefore, if the comparison result is that all differences are less than the positioning accuracy threshold, G3 is judged to be correct and safe; if the comparison result is that there are 2 differences greater than the positioning accuracy threshold, the currently selected G3 is judged to be the fault location module.

[0039] The fault location module obtained by the above three comparisons and judgments is the final fault location module.

[0040] In another embodiment, after determining that the location acquisition is abnormal, if the comparison result is that the three differences are all greater than the positioning accuracy threshold, the location determiner notifies the scheduling module to bring both backup positioning modules in the positioning pool online to obtain location information respectively;

[0041] After receiving the position information of two newly online actuators, the position determiner performs pairwise subtraction of the position information of one online positioning module and the position information of the two newly online positioning modules, and compares all the obtained differences with the positioning accuracy threshold respectively; if the comparison result shows that two differences are greater than the positioning accuracy threshold, the currently selected online positioning module is determined to be a fault positioning module, otherwise, the currently selected online positioning module is determined to be a non-fault positioning module;

[0042] Repeat the above steps, wherein the online positioning module selected each time is different from the previous one;

[0043] After the location information of all online positioning modules is subtracted from the location information of two newly online positioning modules, all the fault positioning modules that have been determined are the fault positioning modules that are finally screened out.

[0044] The above principle is consistent with the aforementioned steps performed after determining that the number of fault location modules is greater than 1, and is therefore omitted.

[0045] Since the comparison results show that all three differences are greater than the positioning accuracy threshold, it means that the location information of at least two online positioning modules is wrong. Therefore, it is necessary to replace the two online positioning modules with two spare positioning modules in turn to confirm the correctness of the location information of the remaining online positioning module.

[0046] In another embodiment, after determining that the location acquisition is abnormal, if the comparison result is that a difference is greater than the positioning accuracy threshold, the location determiner notifies the scheduling module to randomly select a backup positioning module from the positioning pool to go online to obtain the location information;

[0047] After receiving the position information of the newly online positioning module, the position decision device randomly selects the position information of two online positioning modules and the position information of the newly online positioning module to perform pairwise differences, and compares all the obtained differences with the positioning accuracy threshold respectively; if the comparison result is that all the differences are less than the positioning accuracy threshold, the unselected online positioning module is determined to be a fault positioning module, and the current step is exited; otherwise, the current step is repeated; wherein the combination of the two online positioning modules selected each time is different from the previous one;

[0048] When the position information of all online positioning modules is subtracted from the position information of the newly online positioning module, and the final comparison result does not satisfy that all differences are less than the positioning accuracy threshold, it is determined that the system fails.

[0049] Under normal circumstances, only one difference greater than the positioning accuracy threshold should not occur. Therefore, if the comparison result is still not as expected after replacing an online positioning module with a spare positioning module in turn, there must be a system failure.

[0050] Preferably, if the comparison result is that the two differences are greater than the positioning accuracy threshold, the position determiner notifies the scheduling module to randomly select a backup positioning module from the positioning pool to go online, and preferably selects an online positioning module related to the two differences greater than the positioning accuracy threshold to go online, so that the faulty positioning module can be quickly found.

[0051] Preferably, if the comparison result is a difference greater than the positioning accuracy threshold, the position determiner notifies the scheduling module to randomly select a backup positioning module from the positioning pool to go online, and preferably selects one of the two online positioning modules related to the difference greater than the positioning accuracy threshold to go online, so that the faulty positioning module can be quickly found.

[0052] Since different positioning modules have different formats, after receiving the external position request signal, the position input agent converts the position request signal into a format that can be recognized by the corresponding online positioning module and sends it to the corresponding online positioning module;

[0053] When the scheduling module schedules the backup positioning module to go online, the position input agent converts the position request signal into a format that can be recognized by the new online positioning module and sends it to the new online positioning module.

[0054] A second aspect of the present invention provides a mimicry positioning device for executing the aforementioned mimicry positioning method.

[0055] A third aspect of the present invention provides a mobile device, comprising the aforementioned mimic positioning device.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. A mimic positioning method, characterized in that: The following steps are involved: In the initial state, three of the five positioning modules in the positioning pool are selected to go online as online positioning modules, and the remaining two positioning modules are backup positioning modules; After receiving the location request signal sent by the location input agent, the online positioning module sends the acquired location information to the location determiner; The position determiner performs pairwise subtraction of the position information output by all online positioning modules, and compares all the obtained differences with the positioning accuracy threshold respectively; If the comparison result shows that all differences are less than the positioning accuracy threshold, the position acquisition is determined to be normal, and a position information is randomly selected and sent to the position output agent for processing; Otherwise, it is determined that the location acquisition is abnormal, and according to the comparison result, the scheduling module is notified to schedule at least one backup positioning module from the positioning pool to go online to obtain location information, and after receiving the location information of the newly online positioning module, the location information of the newly online positioning module is subtracted from the location information of at most two online positioning modules, and then all the obtained differences are compared with the positioning accuracy threshold respectively, and the faulty positioning module is screened out according to the comparison result, and finally the location information of the online positioning module that has not failed is selected according to the screening result and sent to the location output agent for processing; Specifically, after determining that the location acquisition is abnormal, if the comparison result is that the two differences are greater than the positioning accuracy threshold, the location decision device notifies the scheduling module to randomly select a backup positioning module from the positioning pool to go online to obtain the location information; After receiving the position information of the newly online positioning module, the position decision device randomly selects the position information of two online positioning modules and the position information of the newly online positioning module to perform pairwise differences, and compares all the obtained differences with the positioning accuracy threshold respectively; if the comparison result is that all the differences are less than the positioning accuracy threshold, the unselected online positioning module is determined to be a fault positioning module, and the current step is exited; otherwise, the current step is repeated; wherein the combination of the two online positioning modules selected each time is different from the previous one; When the location information of all online positioning modules is subtracted from the location information of the newly online positioning module, and the final comparison result does not satisfy that all differences are less than the positioning accuracy threshold, it is determined that the number of fault location modules is greater than 1.

2. The mimic positioning method according to claim 1, characterized in that: After determining that the number of fault location modules is greater than 1, the following steps need to be performed: the location determiner notifies the scheduling module to bring another backup location module in the location pool online to obtain location information; After receiving the position information of the second newly online actuator, the position determiner performs pairwise subtraction of the position information of one online positioning module and the position information of the two newly online positioning modules, and compares all the obtained differences with the positioning accuracy threshold respectively; if the comparison result shows that two differences are greater than the positioning accuracy threshold, the currently selected online positioning module is determined to be a fault positioning module, otherwise, the currently selected online positioning module is determined to be a non-fault positioning module; Repeat the above steps, wherein the online positioning module selected each time is different from the previous one; After the location information of all online positioning modules is subtracted from the location information of two newly online positioning modules, all the fault positioning modules that have been determined are the fault positioning modules that are finally screened out.

3. The mimic positioning method according to claim 1, characterized in that: After determining that the location acquisition is abnormal, if the comparison result is that the three differences are all greater than the positioning accuracy threshold, the location decision device notifies the scheduling module to bring both backup positioning modules in the positioning pool online to obtain location information respectively; After receiving the position information of two newly online actuators, the position determiner performs pairwise subtraction of the position information of one online positioning module and the position information of the two newly online positioning modules, and compares all the obtained differences with the positioning accuracy threshold respectively; if the comparison result shows that two differences are greater than the positioning accuracy threshold, the currently selected online positioning module is determined to be a fault positioning module, otherwise, the currently selected online positioning module is determined to be a non-fault positioning module; Repeat the above steps, wherein the online positioning module selected each time is different from the previous one; After the location information of all online positioning modules is subtracted from the location information of two newly online positioning modules, all the fault positioning modules that have been determined are the fault positioning modules that are finally screened out.

4. The mimic positioning method according to claim 1, characterized in that: After determining that the location acquisition is abnormal, if the comparison result is that a difference is greater than the positioning accuracy threshold, the location decision device notifies the scheduling module to randomly select a backup positioning module from the positioning pool to go online to obtain location information; After receiving the position information of the newly online positioning module, the position decision device randomly selects the position information of two online positioning modules and the position information of the newly online positioning module to perform pairwise differences, and compares all the obtained differences with the positioning accuracy threshold respectively; if the comparison result is that all the differences are less than the positioning accuracy threshold, the unselected online positioning module is determined to be a fault positioning module, and the current step is exited; otherwise, the current step is repeated; wherein the combination of the two online positioning modules selected each time is different from the previous one; When the position information of all online positioning modules is subtracted from the position information of the newly online positioning module, and the final comparison result does not satisfy that all differences are less than the positioning accuracy threshold, it is determined that the system fails.

5. The mimic positioning method according to claim 1 or 2, characterized in that: If the comparison result is that the two differences are greater than the positioning accuracy threshold, the position determiner notifies the scheduling module to randomly select a backup positioning module from the positioning pool to go online, and preferably selects an online positioning module related to the two differences greater than the positioning accuracy threshold to go online.

6. The mimic positioning method according to claim 4, characterized in that: If the comparison result is that one difference is greater than the positioning accuracy threshold, the position determiner notifies the scheduling module to randomly select one backup positioning module from the positioning pool to go online, and preferably selects one of the two online positioning modules related to the difference greater than the positioning accuracy threshold to go online.

7. The mimic positioning method according to claim 1, characterized in that: After receiving the external location request signal, the location input agent converts the location request signal into a format that can be recognized by the corresponding online positioning module and sends it to the corresponding online positioning module; When the scheduling module schedules the backup positioning module to go online, the position input agent converts the position request signal into a format that can be recognized by the new online positioning module and sends it to the new online positioning module.

8. A mimic positioning device, characterized in that: Used to execute the mimic positioning method described in any one of claims 1-7.

9. A mobile device, characterized in that: Including the mimicry positioning device as described in claim 8.

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