An interference detection method and apparatus

Abstract

This application discloses an interference detection method and apparatus. The method includes: acquiring the GNSS positioning point and non-GNSS positioning point of a terminal; determining whether the GNSS positioning point of the terminal is located within a pre-determined interference jump point geofence area; determining whether the non-GNSS positioning point of the terminal is located within a pre-determined interference geofence area; and determining that the terminal is subject to GNSS interference when the number of times the GNSS positioning point and non-GNSS positioning point with the same positioning time appear in the interference jump point geofence area and the interference geofence area respectively exceeds a preset first threshold. This method can quickly and efficiently detect whether the positioning point obtained using satellite navigation positioning is a positioning point generated when GNSS interference occurs, and it has high detection accuracy and low cost.

Description

Technical Field

[0001] This application relates to the field of network positioning technology, and in particular to an interference detection method and apparatus. Background Technology

[0002] With the development of civilian applications of Global Navigation Satellite System (GNSS), GNSS has brought great convenience to people's lives, especially in the field of travel. GNSS combined with electronic maps can provide users with various location-related services such as map navigation and ride-hailing.

[0003] Meanwhile, new problems have emerged in civilian applications, such as GNSS interference. GNSS interference can affect the accuracy of GNSS-based positioning, leading to decreased positioning accuracy or even the inability to locate a position, thus impacting the implementation of related location services. Therefore, GNSS interference detection has become a problem that providers of related location services need to solve.

[0004] Existing GNSS interference detection technologies mainly include:

[0005] 1. Signal Feature Detection Technology. This technology determines whether GNSS signals are interfered with by detecting the characteristics of the raw signals. Because it involves detecting raw signal features, it requires modifications to the hardware or software of the GNSS receiver.

[0006] 2. Auxiliary Information Deception Detection Technology. This technology compares the data output by auxiliary equipment (inertial / magnetic sensors, odometers, and high-precision clocks, etc.) with the data output by the GNSS receiver to achieve interference detection. However, this method increases the cost of equipment equipped with a GNSS receiver and is only applicable in local scenarios.

[0007] 3. Direction of Arrival (DOA) Detection Technology. This technology uses an antenna array to track the direction of signal incidence. When all satellites are detected to be incident from the same direction, it indicates the presence of interference signals. This technology requires an antenna array and is difficult to apply to consumer electronics products such as mobile phones that are equipped with GNSS receivers.

[0008] In summary, the aforementioned technologies generally require hardware modifications. However, modifying the hardware of consumer electronics products equipped with GNSS receivers presents challenges. On the one hand, there are cost issues, and on the other hand, the wide variety of consumer electronics models, with their hardware differences and software limitations, makes it difficult to detect GNSS interference through hardware and software modifications alone. Summary of the Invention

[0009] In view of the above problems, this application is made in order to provide an interference detection method and apparatus that overcomes or at least partially solves the above problems.

[0010] In a first aspect, embodiments of this application provide an interference detection method, including:

[0011] Obtain the GNSS and non-GNSS positioning points of the terminal;

[0012] Determine whether the GNSS positioning point of the terminal is located within a pre-determined geofence area of ​​interference jump points;

[0013] Determine whether the non-GNSS positioning point of the terminal is located in a pre-determined interference geofence area;

[0014] If the number of times that GNSS positioning points and non-GNSS positioning points with the same positioning time appear in the interference jump point geofence area and the interference geofence area respectively exceeds a preset first number threshold, then it is determined that the terminal is subject to GNSS interference.

[0015] In some optional embodiments, the method further includes:

[0016] The number of consecutive occurrences of the terminal's GNSS positioning point being located in a pre-determined interference geofence area is determined. When the number of consecutive occurrences reaches a preset second threshold, the step of determining whether the terminal's non-GNSS positioning point is located in the pre-determined interference geofence area is executed, and the number of consecutive occurrences of the terminal's non-GNSS positioning point being located in the interference geofence area is determined.

[0017] In some optional embodiments, the method further includes:

[0018] Based on historical GNSS location point data, determine the GNSS location points generated when GNSS interference occurs;

[0019] Based on the GNSS positioning points generated when GNSS interference occurs, determine the geofence area of ​​the interference jump point;

[0020] Based on historical non-GNSS location point data, determine the non-GNSS location point corresponding to the GNSS location point generated when GNSS interference occurs;

[0021] The area of ​​interference geofence is determined based on the identified non-GNSS location points.

[0022] In some optional embodiments, determining the GNSS positioning point generated when GNSS interference occurs based on historical GNSS positioning point data specifically includes:

[0023] For historical GNSS positioning points generated during the same driving process from the same terminal, perform the following steps:

[0024] The first and last points of GNSS interference positioning were determined from the historical GNSS positioning points generated by the same terminal during the same driving process.

[0025] Determine whether the area or trajectory of the geographical region formed by the GNSS interference positioning start point, the GNSS interference positioning end point, and the historical GNSS positioning points located between the start point and the end point meets the rules for the occurrence of GNSS interference. If so, determine the start point, the end point, and the historical GNSS positioning points between them as the GNSS positioning points generated when GNSS interference occurs.

[0026] In some optional embodiments, determining whether the trajectory formed by the GNSS interference positioning start point, the GNSS interference positioning end point, and historical GNSS positioning points located between the start point and the end point satisfies the rules for the occurrence of GNSS interference specifically includes:

[0027] Map matching is performed on historical GNSS positioning points. If no matching road segment is found for more than a preset number of consecutive historical GNSS positioning points, then the rule for GNSS interference is met; or,

[0028] Map matching is performed on historical GNSS positioning points to obtain two or more matching road segments. If any of these road segments contains a segment that is not connected to other road segments, then the rule for GNSS interference is met; accordingly,

[0029] The determination of the first point, the last point, and the historical GNSS positioning points in between as GNSS positioning points generated when GNSS interference occurs specifically includes:

[0030] The historical GNSS positioning points corresponding to the disconnected road segments are the GNSS positioning points generated when GNSS interference occurs.

[0031] If road segments are connected, it is determined whether the resulting path contains segments that do not conform to driving patterns. If so, the rules for GNSS interference are met; accordingly,

[0032] The step of determining the historical GNSS positioning points of the starting point, the ending point, and the points in between as GNSS positioning points generated when GNSS interference occurs specifically includes: determining the historical GNSS positioning points corresponding to road segments that constitute the ends of a path that do not conform to driving patterns as GNSS positioning points generated when GNSS interference occurs.

[0033] In some optional embodiments, the non-GNSS positioning point is a network positioning point, and the signals used for positioning by the network positioning point include: WIFI signals and / or base station signals.

[0034] In some optional embodiments, before determining whether the GNSS positioning point of the terminal is located within a pre-determined geofence area of ​​interference jump points, the method further includes:

[0035] If the distance between adjacent GNSS positioning points of the terminal is greater than a predetermined distance, then at least the step of determining whether the GNSS positioning point of the terminal is located in a predetermined interference jump point geofence area is performed.

[0036] Secondly, embodiments of this application provide an interference detection device, comprising:

[0037] The acquisition module is used to acquire the GNSS and non-GNSS positioning points of the terminal.

[0038] The first determining module is used to determine whether the GNSS positioning point of the terminal is located in a pre-determined geofence area of ​​interference jump point;

[0039] The second determining module is used to determine whether the non-GNSS positioning point of the terminal is located in a pre-determined interference geofence area;

[0040] The third determination module is used to determine that the terminal is subject to GNSS interference when the number of times that GNSS positioning points and non-GNSS positioning points with the same positioning time appear in the interference jump point geofence area and the interference geofence area respectively exceeds a preset first number threshold.

[0041] Thirdly, embodiments of this application provide a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the aforementioned interference detection method.

[0042] Fourthly, embodiments of this application provide a server, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-described interference detection method.

[0043] The beneficial effects of the above-mentioned technical solutions provided in the embodiments of this application include at least the following:

[0044] The interference detection method provided in this application pre-determines the geofence area of ​​the interference jump point based on the interference points identified from historical GNSS positioning points obtained using satellite navigation positioning, and determines the geofence area of ​​the interference signal that generates the interference point; determines the number of times that the terminal's GNSS positioning point is located within the geofence area of ​​the interference jump point and that non-GNSS positioning points with the same positioning time are located within the geofence area of ​​the interference; when the number of occurrences meets the preset conditions, it is determined that the terminal is subject to GNSS interference. By utilizing the location information of GNSS positioning points obtained directly by the terminal using satellite navigation positioning and non-GNSS positioning points obtained using non-satellite navigation positioning, it is possible to determine whether a GNSS positioning point is subject to signal interference. This eliminates the need to obtain the original signal characteristics of the satellite navigation signal or modify the hardware, resulting in low detection costs and a simple process, making satellite navigation signal interference detection on mobile terminals possible. The system pre-determines interference jump point geofence areas and corresponding interference geofence areas based on historical positioning points. Signal interference is confirmed only when the number of times the terminal's GNSS positioning point is within the interference jump point geofence area and a non-GNSS positioning point with the same positioning time is within the interference geofence area meets a set condition. Compared to determining signal interference simply by the distance between the GNSS positioning point and a non-GNSS positioning point with the same positioning time being greater than a set distance, this method excludes other possibilities, making the judgment more accurate and reliable.

[0045] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0046] The technical solution of this application will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0047] The accompanying drawings are provided to further illustrate the present application and form part of the specification. They are used together with the embodiments of the present application to explain the application and do not constitute a limitation thereof. In the drawings:

[0048] Figure 1 This is a flowchart of the interference detection method in Embodiment 1 of this application;

[0049] Figure 2 Example diagrams showing the geofenced regions for interfering jump points and interfering geofenced regions;

[0050] Figure 3 This is a flowchart illustrating the specific implementation of the method for determining the number of occurrences in Embodiment 1 of this application;

[0051] Figure 4 This is another specific implementation flowchart of the method for determining the number of occurrences in Embodiment 1 of this application;

[0052] Figure 5 This is a flowchart illustrating another specific implementation of the method for determining the number of occurrences in Embodiment 1 of this application.

[0053] Figure 6 This is a flowchart illustrating the determination of the interfering jump point geofence area and the interfering geofence area in Embodiment 1 of this application;

[0054] Figure 7 This is a flowchart of the method for identifying GNSS positioning points when GNSS interference occurs, as described in Embodiment 2 of this application.

[0055] Figure 8 This is an example diagram of the interference location points in Embodiment 2 of this application;

[0056] Figure 9 This is a flowchart of another method for identifying GNSS positioning points generated when GNSS interference occurs, as described in Embodiment 3 of this application;

[0057] Figure 10 This is a schematic diagram of the interference detection device in the embodiments of this application. Detailed Implementation

[0058] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0059] To address the high cost and difficulty in implementing satellite navigation signal interference detection for mobile terminals in existing technologies, this application provides an interference detection method and apparatus that can quickly and efficiently detect whether a positioning point obtained using satellite navigation positioning is a satellite navigation signal interference positioning point, with high detection accuracy and low cost.

[0060] GNSS spoofing typically involves using GNSS signal relays or signal generators to trick GNSS receivers into locking onto deceptive signals, resulting in incorrect positioning. GNSS interference, in a narrower sense, generally involves transmitting suppression signals within the same frequency band as the GNSS signal to prevent the GNSS receiver from locking onto the true signal, thus rendering the receiver unable to locate or reducing its positioning accuracy. These phenomena can be collectively referred to as GNSS interference in a broad sense, and the interference described in the embodiments of this application refers to GNSS interference in this broad sense.

[0061] Example 1

[0062] Embodiment 1 of this application provides an interference detection method, the process of which is as follows: Figure 1 As shown, it includes the following steps:

[0063] Step S11: Obtain the GNSS and non-GNSS positioning points of the terminal.

[0064] Specifically, the GNSS positioning points mentioned above and in subsequent descriptions are positioning points obtained using satellite navigation positioning methods; non-GNSS positioning points are positioning points obtained using non-satellite navigation positioning methods. For example, a non-GNSS positioning point is a network positioning point, and the signals used for positioning network positioning points include: WIFI signals and / or base station signals; optionally, other signals may also be used for positioning.

[0065] Taking a mobile phone as an example, the location point can be obtained from different network positioning interfaces using different methods. For example, a GNSS location point obtained using satellite navigation positioning can be obtained from a satellite navigation positioning interface; a non-GNSS location point obtained using WIFI signal information positioning can be obtained from a WIFI positioning interface; and a non-GNSS location point obtained using base station signal information positioning can be obtained from a base station positioning interface.

[0066] Step S12: Determine whether the terminal's GNSS positioning point is located within the pre-determined interference jump point geofence area.

[0067] In one embodiment, before determining whether the GNSS positioning point of the terminal is located in a pre-determined geofence area of ​​interference jump points, it may further include determining whether the distance between adjacent GNSS positioning points of the terminal is greater than a predetermined distance. If so, then at least the step of determining whether the GNSS positioning point of the terminal is located in a pre-determined geofence area of ​​interference jump points is performed.

[0068] If the distance between adjacent GNSS positioning points is not greater than the predetermined distance, even if the GNSS positioning point is located in a pre-determined interference jump point geofence area, it may be that the terminal is entering the interference jump point geofence area. That is, the GNSS positioning point is the actual location of the terminal during the positioning time, and no further steps are required.

[0069] Step S13: Determine whether the terminal's non-GNSS location point is located in a pre-determined interference geofence area.

[0070] The aforementioned interfering hop point geofence areas and interfering geofence areas are pre-defined and correspond to each other. An interfering geofence area can correspond to one or more interfering hop point geofence areas; conversely, an interfering hop point geofence area may also correspond to one or more interfering geofence areas. The interfering hop point geofence area is defined based on interfering positioning points identified from historical GNSS positioning points, i.e., positioning points generated based on the interfering GNSS signal. The interfering geofence area refers to the area where the terminal is easily affected by GNSS signal interference when it is near or traveling within the area, i.e., the area covered by the interfering signal. (Refer to...) Figure 2 As shown, GNSS positioning points 1 to 2 change from normal to abnormal (GNSS positioning points generated when there is signal interference), and GNSS positioning points 3 to 4 change from abnormal to normal. Therefore, the area determined by GNSS positioning points 2 and 3 and the GNSS positioning points between them is the interference jump point geofence area; the area determined by non-GNSS positioning points with the same positioning time corresponding to GNSS positioning points 2 and 3 and the GNSS positioning points between them is the interference geofence area.

[0071] Specifically, each time it is determined that the GNSS positioning point of the terminal is located within the interference hop point geofence area, the non-GNSS positioning point of the terminal obtained by non-satellite navigation positioning method is determined to be located within the interference hop point geofence area based on the positioning time of the GNSS positioning point; alternatively, it is determined that the non-GNSS positioning points with the same positioning time are located within the interference hop point geofence area only when the number of GNSS positioning points of the terminal obtained by satellite navigation positioning method located within the interference hop point geofence area is greater than a preset number threshold.

[0072] The above-mentioned fixed time can be the same for GNSS positioning points and non-GNSS positioning points; or it can be GNSS positioning points and non-GNSS positioning points generated within the same positioning time period. It is not required that the positioning time of each positioning point be the same.

[0073] Step S14: When the number of times GNSS positioning points and non-GNSS positioning points with the same positioning time appear in the interference jump point geofence area and the interference geofence area respectively exceeds the preset first number threshold, it is determined that the terminal is subject to GNSS interference.

[0074] If the number of times a GNSS positioning point and a non-GNSS positioning point with the same positioning time appear in the interference jump point geofence area and the interference geofence area respectively exceeds a preset first threshold, the GNSS positioning point located within the interference jump point geofence area is identified as an interference positioning point, meaning the terminal is experiencing GNSS interference. Here, "GNSS positioning point located within the interference jump point geofence area" does not refer to all GNSS positioning points within the interference jump point geofence area; rather, it specifically refers to the GNSS positioning point that appears in the interference jump point geofence area and is located in the interference geofence area when a non-GNSS positioning point with the same positioning time is also present.

[0075] The interference detection method provided in Embodiment 1 of this application pre-determines the geofence area of ​​the interference jump point based on the interference points identified from historical GNSS positioning points obtained using satellite navigation positioning, and determines the geofence area of ​​the interference signal that generates the interference point; determines the number of times that the terminal's GNSS positioning point is located within the geofence area of ​​the interference jump point and that non-GNSS positioning points with the same positioning time are located within the geofence area of ​​the interference; when the number of occurrences meets the preset conditions, it is determined that the terminal is subject to GNSS interference. By utilizing the location information of GNSS positioning points obtained directly by the terminal using satellite navigation positioning and non-GNSS positioning points obtained using non-satellite navigation positioning, it is possible to determine whether a GNSS positioning point is subject to signal interference. This eliminates the need to obtain the original signal characteristics of the satellite navigation signal or modify the hardware, resulting in low detection costs and a simple process, making satellite navigation signal interference detection on mobile terminals possible. The system pre-determines interference jump point geofence areas and corresponding interference geofence areas based on historical positioning points. Signal interference is confirmed only when the number of times the terminal's GNSS positioning point is within the interference jump point geofence area and a non-GNSS positioning point with the same positioning time is within the interference geofence area meets a set condition. Compared to determining signal interference simply by the distance between the GNSS positioning point and a non-GNSS positioning point with the same positioning time being greater than a set distance, this method excludes other possibilities, making the judgment more accurate and reliable.

[0076] Specifically, the number of times in step S14 above can be determined in the following way.

[0077] Method 1, see Figure 3 As shown, it includes the following steps:

[0078] Step S31: When the GNSS positioning point of the terminal is located within the geofence area of ​​the interference jump point, determine the positioning time of the GNSS positioning point, and obtain the non-GNSS positioning point of the terminal obtained by using a non-satellite navigation positioning method with the same positioning time.

[0079] That is, each time it is determined that the GNSS positioning point of the terminal is located within the geofence area of ​​the interference jump point, the non-GNSS positioning point of the terminal obtained by the non-satellite navigation positioning method is obtained according to the positioning time of the GNSS positioning point.

[0080] Step S32: If the non-GNSS positioning point is located within the interference geofence area, determine the GNSS positioning point as the alternative interference positioning point.

[0081] If the non-GNSS positioning point is located within the interference geofence area, it indicates that the positioning point locations of the terminals obtained at the same positioning time using different positioning methods are inconsistent. It can be determined that the GNSS positioning point may be subject to interference and should be considered as a candidate interference positioning point.

[0082] Step S33: Until all GNSS positioning points within the set time are located outside the interference jump point geofence area, obtain the number of occurrences of the candidate interference trajectory points, which are taken as the number of times GNSS positioning points and non-GNSS positioning points with the same positioning time appear in the interference jump point geofence area and the interference geofence area, respectively.

[0083] If all GNSS positioning points are located outside the geofence area of ​​the interference jump point within the set time, it means that the received satellite navigation signal is no longer interfered with, or the terminal has left the geofence area of ​​the interference jump point. Therefore, at this time, the occurrence number of the previously determined candidate interference positioning points can be summarized.

[0084] In one embodiment, the method may further include determining the number of consecutive occurrences of the terminal's GNSS positioning point being located within a pre-determined interference jump point geofence area; when the number of consecutive occurrences reaches a preset second threshold, performing the step of determining whether the terminal's non-GNSS positioning point is located within the pre-determined interference geofence area; and determining the number of consecutive occurrences of the terminal's non-GNSS positioning point being located within the interference geofence area. The method for determining the number of times GNSS positioning points and non-GNSS positioning points with the same positioning time appear within the interference jump point geofence area and the interference geofence area, respectively, may be the steps included in method two.

[0085] Method 2, see Figure 4 As shown, it includes the following steps:

[0086] Step S41: If the number of GNSS positioning points of the terminal located within the interference jump point geofence area is greater than the preset first threshold, determine whether non-GNSS positioning points with the same positioning time as the GNSS positioning points are located within the interference geofence area.

[0087] Specifically, the number of GNSS positioning points located within the interference jump point geofence area can be the number of consecutive GNSS positioning points located within the interference jump point geofence area; or it can be within a set time period, such as starting the count from the moment the first GNSS positioning point is determined to be within the interference jump point geofence area, and counting the number of GNSS positioning points within the interference jump point geofence area within 5 seconds; optionally, the 5-second time period can also be set to other times, and the specific setting of the time period can be determined according to the specific actual situation, for example, based on the terminal's driving speed and the length of the interference jump point geofence area.

[0088] The aforementioned preset threshold number can be determined based on empirical values. If it is set too high, interference may be missed; if it is set too low, the final number of occurrences will be less than the actual number.

[0089] If step S41 determines that at least one of the non-GNSS positioning points is located within the interference geofence area, then step S42 is executed.

[0090] Step S42: Determine the GNSS positioning point with the same positioning time as the non-GNSS positioning point located within the interference geofence area as the candidate interference trajectory point, and obtain the number of times the GNSS positioning point and the non-GNSS positioning point with the same positioning time appear in the interference jump point geofence area and the interference geofence area, respectively.

[0091] Method 1, when determining that the terminal's GNSS positioning point is within the interference hop geofence area, retrieves non-GNSS positioning points with the same positioning time based on the GNSS positioning point's positioning time and determines whether the non-GNSS positioning points are within the interference hop geofence area. This can lead to additional calculations even when the GNSS positioning point is occasionally within the interference hop geofence area due to other anomalies, not interference, increasing the computational load. Method 2 only determines whether non-GNSS positioning points with the same positioning time are within the interference hop geofence area when the number of GNSS positioning points within the interference hop geofence area exceeds a preset threshold, avoiding unnecessary calculations for anomalies. However, since subsequent calculations and judgments are only performed when the number of interfering geopoints within the interference hop geofence area exceeds a first preset threshold, it increases the time delay in interference detection compared to Method 1. Therefore, the final method used for judgment depends on the specific circumstances.

[0092] Alternatively, a third method combining methods one and two can be used for judgment, as shown in the reference. Figure 5 As shown, it includes the following steps:

[0093] Step S51: If the number of GNSS positioning points of the terminal located within the interference jump point geofence area is greater than the preset second threshold, determine whether the non-GNSS positioning points with the same positioning time as the GNSS positioning points are located within the interference geofence area.

[0094] Specifically, the aforementioned preset second threshold can be 0, in which case Method 3 is basically the same as Method 1; alternatively, the aforementioned preset second threshold can also be set to other values, such as 3 or 4. Subsequent steps are only executed when it is determined how many GNSS positioning points are located within the geofence area of ​​the interference jump point, which reduces the computational load and avoids missing interference detections.

[0095] If step S51 determines that at least one of the non-GNSS positioning points is located within the interference geofence area, then step S52 is executed.

[0096] Step S52: Determine the GNSS positioning point as a candidate interference positioning point, and continue to determine whether the GNSS positioning point within the geofence area of ​​the subsequent interference jump point is a candidate interference positioning point, until all the GNSS positioning points obtained within the set time are located outside the geofence area of ​​the interference jump point, and obtain the number of occurrences of the candidate interference positioning point.

[0097] Reference Figure 6 As shown, the aforementioned interfering jump point geofence area and interfering geofence area are determined in advance through the following steps:

[0098] Step S61: Based on historical GNSS positioning point data, determine the GNSS positioning point generated when GNSS interference occurs.

[0099] Specifically, the aforementioned historical GNSS positioning data can be historical GNSS positioning points obtained from multiple terminals within a defined time period and range using satellite navigation positioning. GNSS positioning points generated when GNSS interference occurs are called GNSS interference points.

[0100] Step S62: Based on the GNSS positioning points generated when GNSS interference occurs, determine at least one interference jump point geofence area.

[0101] Specifically, at least one interference jump point geofence region can be obtained through manual interaction based on the location information of GNSS interference points; alternatively, GNSS interference points that are close to each other can be clustered together, and an interference jump point geofence region can be determined based on the location information of the interference points in each category; or other methods can be used to determine the interference jump point geofence region based on the location information of GNSS interference points.

[0102] Step S63: Based on historical non-GNSS positioning point data, determine the non-GNSS positioning point corresponding to the GNSS positioning point generated when GNSS interference occurs.

[0103] Based on the positioning time and corresponding terminal of the identified GNSS interference points, historical non-GNSS points obtained using non-satellite navigation positioning methods are determined.

[0104] Step S64: Determine the area of ​​interference geofence based on the determined non-GNSS positioning points.

[0105] At least one interfering geofence area is identified based on the location information of non-GNSS positioning points.

[0106] The method for determining the interference geofence area is similar to the method for determining the interference jump point geofence area, and will not be repeated here.

[0107] Step S65: Determine the correspondence between the geofence area of ​​the interference jump point and the geofence area of ​​the interference based on the correspondence between the identified GNSS interference points and non-GNSS positioning points.

[0108] Specifically, one interfering jump point geofence area can correspond to multiple interfering geofence areas, or one interfering geofence area can correspond to multiple interfering jump point geofence areas, or there can be a one-to-one correspondence between interfering jump point geofence areas and interfering geofence areas.

[0109] Optionally, the aforementioned interference jump point geofence area may not be determined by GNSS interference points. For example, it may be determined by acquiring each road segment obtained from historical GNSS positioning point road matching, identifying road segments that do not conform to the forward movement pattern as interference road segments, determining at least one interference jump point geofence area based on the interference road segments, restoring the normal road segments corresponding to the interference road segments based on the road connectivity, and determining at least one interference geofence area based on the restored normal road segments.

[0110] Example 2

[0111] Embodiment 2 of this application provides a method for identifying GNSS positioning points generated when GNSS interference occurs, based on historical GNSS positioning point data, i.e., the identification method for GNSS interference points. The process is as follows: Figure 7 As shown, it includes the following steps:

[0112] Step S71: Determine the first and last points of GNSS interference positioning from the historical GNSS positioning points generated during the same trip of the same terminal.

[0113] Specifically, this may include determining adjacent historical GNSS positioning points with a distance greater than a set distance threshold to obtain at least two pairs of positioning points with position jumps; determining the last historical GNSS positioning point of the first fixed positioning point pair in the two adjacent positioning point pairs as the GNSS interference positioning start point, and determining the first historical GNSS positioning point of the last fixed positioning point pair as the GNSS interference positioning tail point.

[0114] Reference Figure 8 As shown, the distance between historical GNSS positioning point 1 and historical GNSS positioning point 2 is greater than the set distance threshold, and the two are determined to be a pair of positioning points with position jumps; the distance between historical GNSS positioning point 3 and historical GNSS positioning point 4 is greater than the set distance threshold, and the two are determined to be a pair of positioning points with position jumps; the last historical GNSS positioning point 2 of the first fixed position pair 12 in the two adjacent positioning point pairs is determined as the first point of GNSS interference positioning, and the first historical GNSS positioning point 3 of the last fixed position pair 34 is determined as the last point of GNSS interference positioning.

[0115] Step S72: Determine whether the area or trajectory of the geographical region formed by the GNSS interference positioning start point, the GNSS interference positioning end point, and the historical GNSS positioning points located between the start point and the end point meets the rules for the occurrence of GNSS interference.

[0116] Determine whether the area of ​​the geographical region formed by the GNSS interference positioning start point, the GNSS interference positioning end point, and the historical GNSS positioning points located between the start point and the end point is less than a predetermined area threshold, and / or determine whether the trajectory formed by the GNSS interference positioning start point, the GNSS interference positioning end point, and the historical GNSS positioning points located between the start point and the end point does not conform to the trajectory's forward movement pattern.

[0117] The result of interference with satellite navigation and positioning signals is generally that the positioning point of the terminal within the coverage area of ​​the interference signal is located in a specific area. Therefore, the positions of the GNSS interference points between two adjacent sets of positioning points are concentrated within a predetermined area, and the GNSS interference points between two adjacent sets of positioning points can be identified as interference positioning points.

[0118] The trajectory formed by historical GNSS positioning points does not conform to the trajectory forward pattern. This may include situations where the matching path of a historical GNSS positioning point is not connected to the matching paths of previous and / or subsequent historical GNSS positioning points; or where the matching path of a historical GNSS positioning point is connected to the matching paths of previous and / or subsequent historical GNSS positioning points, but does not conform to the theory, such as back-and-forth looping of trajectory segments.

[0119] In one embodiment, determining whether the trajectory formed by the GNSS interference positioning start point, the GNSS interference positioning end point, and historical GNSS positioning points located between the start and end points satisfies the rules for GNSS interference may include: performing map matching on historical GNSS positioning points; if more than a preset number of consecutive historical GNSS positioning points do not have matching road segments, then the rules for GNSS interference are satisfied, and the historical GNSS positioning points without matching road segments are determined to be GNSS positioning points generated when GNSS interference occurred; or,

[0120] Map matching is performed on historical GNSS positioning points to obtain two or more matching road segments. If there are road segments that are not connected to other road segments, then the rule of GNSS interference is satisfied. The historical GNSS positioning points corresponding to the unconnected road segments are identified as GNSS positioning points generated when GNSS interference occurs. If the road segments are connected, it is determined whether there are path segments that do not conform to driving patterns in the connected paths. If so, the rule of GNSS interference is satisfied. The historical GNSS positioning points corresponding to the road segments that constitute the ends of the path that do not conform to driving patterns are identified as GNSS positioning points generated when GNSS interference occurs.

[0121] If step S72 is correct, proceed to step S73.

[0122] Step S73: Determine the first point, the last point, and the historical GNSS positioning points in between as the GNSS positioning points generated when GNSS interference occurs.

[0123] For example, Figure 8 In the adjacent two sets of jump positioning point pairs, the previous historical GNSS positioning point 2 of the first fixed position pair 12 is determined as the first point of GNSS interference positioning, and the previous historical GNSS positioning point 3 of the second fixed position pair 34 is determined as the tail point of GNSS interference positioning. GNSS positioning point 2, GNSS positioning point 3 and the historical GNSS positioning point in between are determined as the GNSS positioning points generated when GNSS interference occurs.

[0124] Example 3

[0125] Embodiment 3 of this application provides a method for identifying GNSS positioning points generated when GNSS interference occurs, based on historical GNSS positioning point data, i.e., the identification method for GNSS interference points. The process is as follows: Figure 9 As shown, it includes the following steps:

[0126] Step S91: Match roads for historical GNSS positioning points on the same trajectory. If road matching fails for more than a preset number of consecutive historical GNSS positioning points, the historical GNSS positioning points that failed to match roads are identified as GNSS interference points.

[0127] If road matching fails due to the lack of historical GNSS positioning points, proceed to step S92.

[0128] Step S92: Determine whether there are any road segments among the obtained multiple road segments that are not connected to other road segments.

[0129] If yes, proceed to step S93; otherwise, proceed to step S94.

[0130] Step S93: Replace the historical GNSS location points corresponding to the disconnected road segments with the GNSS location points generated when GNSS interference occurs.

[0131] Step S94: Determine whether there are any path segments in the connected path that do not conform to the driving pattern.

[0132] If so, proceed to step S95.

[0133] Step S95: Determine the historical GNSS positioning points corresponding to the road segments that constitute path segments that do not conform to driving patterns as GNSS positioning points generated when GNSS interference occurs.

[0134] Based on the inventive concept of this application, embodiments of this application also provide an interference detection device, the structure of which is as follows: Figure 10 As shown, it includes:

[0135] The acquisition module 101 is used to acquire the GNSS positioning point and non-GNSS positioning point of the terminal;

[0136] The first determining module 102 is used to determine whether the GNSS positioning point of the terminal is located in a pre-determined interference jump point geofence area;

[0137] The second determining module 103 is used to determine whether the non-GNSS positioning point of the terminal is located in a pre-determined interference geofence area;

[0138] The third determining module 104 is used to determine that the terminal is subject to GNSS interference when the number of times that GNSS positioning points and non-GNSS positioning points with the same positioning time appear in the interference jump point geofence area and the interference geofence area respectively exceeds a preset first number threshold.

[0139] In one embodiment, the above-described apparatus further includes a fourth determining module 105, configured to:

[0140] The second determining module 103 determines the number of consecutive occurrences of the terminal's GNSS positioning point being located in a pre-determined interference jump point geofence area. When the number of consecutive occurrences reaches a preset second threshold, the second determining module 103 performs the step of determining whether the terminal's non-GNSS positioning point is located in a pre-determined interference geofence area.

[0141] In one embodiment, the above-described apparatus further includes a fifth determining module 106, configured to:

[0142] Based on historical GNSS location point data, determine the GNSS location points generated when GNSS interference occurs; based on the GNSS location points generated when GNSS interference occurs, determine the geofence area of ​​the interference jump point; based on historical non-GNSS location point data, determine the non-GNSS location points corresponding to the GNSS location points generated when GNSS interference occurs; based on the determined non-GNSS location points, determine the geofence area of ​​the interference.

[0143] In one embodiment, the fifth determining module 106 determines the GNSS positioning point generated when GNSS interference occurs based on historical GNSS positioning point data, specifically for:

[0144] For historical GNSS positioning points generated during the same driving process from the same terminal, the following steps are performed: Identify the GNSS interference positioning start point and GNSS interference positioning end point from the historical GNSS positioning points generated during the same driving process from the same terminal; determine whether the area or trajectory of the geographical region formed by the GNSS interference positioning start point, GNSS interference positioning end point, and the historical GNSS positioning points located between the start and end points meets the rules for GNSS interference. If so, identify the start point, end point, and the historical GNSS positioning points between them as GNSS positioning points generated when GNSS interference occurred.

[0145] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0146] Based on the inventive concept of this application, embodiments of this application also provide a computer-readable storage medium storing computer instructions thereon, which, when executed by a processor, implement the above-described interference detection method.

[0147] Based on the inventive concept of this application, embodiments of this application also provide a server, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-mentioned interference detection method.

[0148] Unless otherwise specifically stated, terms such as processing, calculation, operation, determination, display, etc., may refer to the actions and / or processes of one or more processing or computing systems or similar devices that represent the manipulation and conversion of data representing physical (e.g., electronic) quantities within the registers or memory of the processing system into other data similarly representing physical quantities within the memory, registers, or other such information storage, transmission, or display devices of the processing system. Information and signals can be represented using any of a variety of different techniques and methods. For example, data, instructions, commands, information, signals, bits, symbols, and chips mentioned throughout the above description can be represented by voltage, current, electromagnetic waves, magnetic fields or particles, light fields or particles, or any combination thereof.

[0149] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process may be rearranged without departing from the scope of this disclosure. The appended method claims provide elements of various steps in an exemplary order and are not intended to limit the scope to the specific order or hierarchy described.

[0150] In the above detailed description, various features are combined together in a single embodiment to simplify this disclosure. This approach to disclosure should not be construed as reflecting an intention that embodiments of the claimed subject matter require more features than are explicitly stated in each claim. Rather, as reflected in the appended claims, this application is in a state of having fewer features than all of the features of the single disclosed embodiment. Therefore, the appended claims are hereby clearly incorporated into the detailed description, with each claim representing a separate preferred embodiment of this application.

[0151] Those skilled in the art will also understand that the various illustrative logic blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments herein can be implemented as electronic hardware, computer software, or a combination thereof. To clearly illustrate the interchangeability between hardware and software, the various illustrative components, blocks, modules, circuits, and steps described above are generally described in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. Those skilled in the art can implement the described functionality in alternative ways for each specific application; however, such implementation decisions should not be construed as departing from the scope of this disclosure.

[0152] The steps of the methods or algorithms described in conjunction with the embodiments herein can be directly embodied in hardware, software modules executed by a processor, or a combination thereof. The software modules can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium well known in the art. An exemplary storage medium is connected to the processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. The ASIC can reside in a user terminal. Alternatively, the processor and storage medium can exist as discrete components in the user terminal.

[0153] For software implementation, the techniques described in this application can be implemented using modules (e.g., procedures, functions, etc.) that perform the functions described in this application. This software code can be stored in memory units and executed by a processor. The memory units can be implemented within the processor or outside the processor; in the latter case, they are communicatively coupled to the processor via various means, as is well known in the art.

[0154] The foregoing description includes examples of one or more embodiments. It is certainly impossible to describe all possible combinations of components or methods in order to describe the above embodiments, but those skilled in the art will recognize that further combinations and arrangements of the various embodiments are possible. Therefore, the embodiments described herein are intended to cover all such changes, modifications, and variations that fall within the scope of the appended claims. Furthermore, the term “comprising” as used in the specification or claims is interpreted in a manner similar to the term “including,” as it is understood when used as a conjunction in the claims. Additionally, the use of any term “or” in the specification of the claims is intended to mean “non-exclusive or.” The terms “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

Claims

1. An interference detection method, wherein, include: Obtain the GNSS and non-GNSS positioning points of the terminal; Determine whether the GNSS positioning point of the terminal is located in a pre-determined interference jump point geofence area, wherein the interference jump point geofence area is a region delineated based on interference positioning points determined from historical GNSS positioning points; Determine whether the non-GNSS positioning point of the terminal is located in a pre-determined interference geofence area, wherein the interference geofence area refers to an area where the terminal is easily interfered with by GNSS signals when it is near or driving inside it; If the number of times that GNSS positioning points and non-GNSS positioning points with the same positioning time appear in the interference jump point geofence area and the interference geofence area respectively exceeds a preset first number threshold, then it is determined that the terminal is subject to GNSS interference.

2. The method as described in claim 1, wherein, The method further includes: The number of consecutive occurrences of the terminal's GNSS positioning point being located in a pre-determined interference geofence area is determined. When the number of consecutive occurrences reaches a preset second threshold, the step of determining whether the terminal's non-GNSS positioning point is located in the pre-determined interference geofence area is executed, and the number of consecutive occurrences of the terminal's non-GNSS positioning point being located in the interference geofence area is determined.

3. The method as described in claim 1, wherein, The method further includes: Based on historical GNSS location point data, determine the GNSS location points generated when GNSS interference occurs; Based on the GNSS positioning points generated when GNSS interference occurs, determine the geofence area of ​​the interference jump point; Based on historical non-GNSS location point data, determine the non-GNSS location point corresponding to the GNSS location point generated when GNSS interference occurs; The area of ​​interference geofence is determined based on the identified non-GNSS location points.

4. The method of claim 3, wherein, The determination of GNSS positioning points generated when GNSS interference occurs, based on historical GNSS positioning point data, specifically includes: For historical GNSS positioning points generated during the same driving process from the same terminal, perform the following steps: The first and last points of GNSS interference positioning were determined from the historical GNSS positioning points generated by the same terminal during the same driving process. Determine whether the area or trajectory of the geographical region formed by the GNSS interference positioning start point, the GNSS interference positioning end point, and the historical GNSS positioning points located between the start point and the end point meets the rules for the occurrence of GNSS interference. If so, determine the start point, the end point, and the historical GNSS positioning points between them as the GNSS positioning points generated when GNSS interference occurs.

5. The method of claim 4, wherein, Determine whether the trajectory formed by the GNSS interference positioning start point, the GNSS interference positioning end point, and historical GNSS positioning points located between the start and end points meets the rules for GNSS interference, specifically including: Map matching is performed on historical GNSS positioning points. If no matching road segment is found for more than a preset number of consecutive historical GNSS positioning points, then the rule for GNSS interference is met; or, Map matching is performed on historical GNSS positioning points to obtain two or more matching road segments. If any of these road segments contains a segment that is not connected to other road segments, then the rule for GNSS interference is met; accordingly, The determination of the first point, the last point, and the historical GNSS positioning points in between as GNSS positioning points generated when GNSS interference occurs specifically includes: The historical GNSS positioning points corresponding to the disconnected road segments are the GNSS positioning points generated when GNSS interference occurs. If road segments are connected, it is determined whether the resulting path contains segments that do not conform to driving patterns. If so, the rules for GNSS interference are met; accordingly, The step of determining the historical GNSS positioning points of the starting point, the ending point, and the points in between as GNSS positioning points generated when GNSS interference occurs specifically includes: determining the historical GNSS positioning points corresponding to road segments that constitute the ends of a path that do not conform to driving patterns as GNSS positioning points generated when GNSS interference occurs.

6. The method as described in any one of claims 1 to 5, wherein, The non-GNSS positioning point is a network positioning point, and the signals used for positioning by the network positioning point include: old W signals and / or base station signals.

7. The method as described in any one of claims 1 to 5, wherein, Before determining whether the GNSS positioning point of the terminal is located within a pre-determined geofence area of ​​interference jump points, the method further includes: If the distance between adjacent GNSS positioning points of the terminal is greater than a predetermined distance, then at least the step of determining whether the GNSS positioning point of the terminal is located in a predetermined interference jump point geofence area is performed.

8. An interference detection device, wherein, include: The acquisition module is used to acquire the GNSS and non-GNSS positioning points of the terminal. The first determining module is used to determine whether the GNSS positioning point of the terminal is located in a pre-determined interference jump point geofence area, wherein the interference jump point geofence area is an area delineated based on interference positioning points determined from historical GNSS positioning points. The second determining module is used to determine whether the non-GNSS positioning point of the terminal is located in a pre-determined interference geofence area, wherein the interference geofence area refers to an area that is easily interfered with by GNSS signals when the terminal is near or driving inside it. The third determination module is used to determine that the terminal is subject to GNSS interference when the number of times that GNSS positioning points and non-GNSS positioning points with the same positioning time appear in the interference jump point geofence area and the interference geofence area respectively exceeds a preset first number threshold.

9. A computer-readable storage medium having computer instructions stored thereon, wherein, When this instruction is executed by the processor, it implements the interference detection method according to any one of claims 1 to 7.

10. A server, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the interference detection method according to any one of claims 1 to 7.

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