Signal anti-interference method and device

Abstract

The present application provides a signal anti-interference method and device, which is applied to smart wearable devices, and the method includes: when receiving an original navigation signal, determining the signal characteristics according to the original navigation signal; performing interference detection operations according to the signal characteristics to determine the detection results; if the detection result is characterized as abnormal, executing the interference suppression strategy associated with the detection result, and re-receiving the original navigation signal; repeating the above process until the detection result corresponding to the re-received original navigation signal is characterized as normal. In this way, the present application determines whether there is deceptive interference by determining whether each signal characteristic of the captured and tracked navigation signal is normal, and executes corresponding interference suppression strategies for different types of deceptive interference, thereby improving the accuracy of smart wearable devices in acquiring navigation signals, and executing corresponding interference suppression strategies for abnormal types to improve the success rate and diversity of interference signal suppression.

Description

Technical Field

[0001] The present application belongs to the general data processing technology field of the Internet industry, and specifically relates to a signal anti-interference method and device. Background Art

[0002] At present, with the need for people to travel, the application of navigation is becoming more and more common. Navigation can help people find their destination quickly, avoid getting lost and wasting time and energy, and can also help people plan travel routes, determine transportation, and find tourist attractions, etc., thus facilitating travel and tourism.

[0003] However, the traditional processing mechanism of navigation signals used by electronic devices when using the navigation function cannot accurately identify deceptive interference signals in the navigation signals, which may cause the electronic devices to lose their location information and may even cause the navigation system to fail.

[0004] Therefore, there is an urgent need for a signal anti-interference method and device that can solve the above-mentioned problem. Summary of the invention

[0005] The embodiments of the present application provide a signal anti-interference method and device, which determines whether deception interference exists by determining whether the signal characteristics of the captured and tracked navigation signal are normal, and executes corresponding interference suppression strategies for different types of deception interference, thereby improving the accuracy of smart wearable devices in acquiring navigation signals and the success rate of interference suppression.

[0006] In a first aspect, an embodiment of the present application provides a signal anti-interference method, which is applied to a smart wearable device, and the method includes:

[0007] When an original navigation signal is received, determining a signal characteristic according to the original navigation signal;

[0008] For the signal feature, performing an interference detection operation to determine a detection result, wherein the detection result is used to characterize whether the signal feature is abnormal and, when the signal feature is abnormal, the abnormality type corresponding to the abnormality;

[0009] If the detection result is characterized as abnormal, executing an interference suppression strategy associated with the abnormal type, and re-receiving the original navigation signal;

[0010] The above process is repeated until the detection result corresponding to the re-received original navigation signal is characterized as normal.

[0011] In a second aspect, an embodiment of the present application provides a signal anti-interference device, which is applied to a smart wearable device, and the device includes:

[0012] a feature determination unit, configured to determine a signal feature according to the original navigation signal when an original navigation signal is received;

[0013] an interference detection unit, configured to perform an interference detection operation on the signal feature to determine a detection result, wherein the detection result is used to characterize whether the signal feature is abnormal and, when the signal feature is abnormal, the abnormality type corresponding to the abnormality;

[0014] an interference suppression unit, configured to execute an interference suppression strategy associated with the abnormality type and re-receive the original navigation signal if the detection result is characterized as abnormal;

[0015] The repetitive execution unit is used to repeatedly execute the above process until the detection result corresponding to the re-received original navigation signal is characterized as normal.

[0016] In a third aspect, an embodiment of the present application provides a smart wearable device, comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the steps in the first aspect of the embodiment of the present application.

[0017] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implement the steps in the first aspect of the embodiment of the present application.

[0018] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement some or all of the steps described in the first aspect of the embodiment of the present application.

[0019] It can be seen that in the embodiment of the present application, the smart wearable device determines whether there is deception interference by determining whether the signal characteristics of the captured and tracked navigation signal are normal, and executes corresponding interference suppression strategies for different types of deception interference, thereby improving the accuracy of the smart wearable device in acquiring navigation signals, and executes corresponding interference suppression strategies for abnormal types to improve the success rate and diversity of interference signal suppression. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a flow chart of a signal anti-interference method provided in an embodiment of the present application;

[0022] Figure 2 This is a schematic diagram of a scenario for triggering a navigation function provided in an embodiment of the present application;

[0023] Figure 3 is a schematic diagram of a scenario of an interference detection operation provided by an embodiment of the present application;

[0024] Figure 4 is a schematic flow chart of an intelligent wearable device performing interference detection and suppression operations provided by an embodiment of the present application;

[0025] Figure 5 This is a block diagram of the functional units of a signal anti-interference device provided in an embodiment of the present application;

[0026] Figure 6 It is a block diagram of the functional units of another signal anti-interference device provided in an embodiment of the present application;

[0027] Figure 7 It is a structural block diagram of a smart wearable device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0030] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0031] Based on this, an embodiment of the present application provides a signal anti-interference method, and the embodiment of the present application is described in detail below in conjunction with the accompanying drawings.

[0032] See also Figure 1 , Figure 1 : is a flow chart of a signal anti-interference method provided in an embodiment of the present application, the method is applied to a smart wearable device; the method comprises:

[0033] Step S101, when an original navigation signal is received, a signal feature is determined according to the original navigation signal.

[0034] Among them, electronic devices all obtain navigation signals from satellites through specific channels. In navigation systems, multiple channels are usually used to simultaneously receive signals from multiple satellites to improve the accuracy and reliability of position calculation. This application does not limit the channels used by smart wearable devices. Channel types may include single-frequency channels, dual-frequency channels, multi-frequency channels, broadband channels, short message channels, etc., which are not limited here.

[0035] In a possible embodiment, when an original navigation signal is received, determining a signal characteristic based on the original navigation signal includes: determining an original signal power of the received original navigation signal; capturing the original navigation signal, and performing a tracking operation on the original navigation signal; if the tracking is successful, demodulating the original navigation signal to determine a navigation message; parsing the navigation message to determine current time information and satellite operating parameters corresponding to the navigation satellite; determining a signal arrival time based on the current time information; and determining a signal characteristic based on the signal arrival time, the original signal power, and the satellite operating parameters.

[0036] Among them, electronic devices such as smart wearable devices usually rely on satellite navigation systems to obtain navigation information. This is a process involving multiple steps: 1. Satellite transmission signal: Satellites send navigation signals containing information about the satellite's position and time. These signals are transmitted in the form of radio waves and can pass through the atmosphere to the surface of the earth. 2. Signal reception: The receiving device receives signals from satellites through antennas. These devices are usually equipped with special receiving antennas to receive and process these signals. 3. Signal processing: The signal received by the device contains information from multiple satellites. The device analyzes these signals, calculates the distance between the satellite and the receiver, and uses techniques such as triangulation to determine the location of the device. 4. Navigation output: Finally, the device presents the calculated location information to the user. This may be to display the location in a map application, provide navigation instructions, or drive the navigation system on a specific device (such as a ship, aircraft, or vehicle). The entire process requires highly accurate calculations and time synchronization to ensure accurate acquisition of location information. Signal reception from multiple satellites can improve accuracy and reliability, so devices usually receive signals from multiple satellites as much as possible.

[0037] Among them, the satellite navigation system, also known as the Global Navigation Satellite Systems (GNSS), is used to describe a system that uses satellite signals to determine the location of the user's receiver. Among the current global satellite navigation systems, the most common ones are the GPS system (Global Positioning System, GPS) and the Beidou system (Beidou Navigation Satellite System, BDS). After the electronic device completes the signal reception process, it will perform subsequent capture and tracking steps to ensure the subsequent decoding, parsing, and use of the navigation signal to achieve the positioning function.

[0038] Among them, based on the above introduction, after receiving the original navigation signal, the smart wearable device in this application will obtain a series of features based on the original navigation signal to determine the signal characteristics, including at least one of the following: signal power, signal arrival time, pseudorange residual and radial velocity residual, clock bias, clock drift, and telegram information in the navigation signal, which are not limited here. Among them, pseudorange measurement is a method of calculating the position by measuring the signal propagation time between the satellite and the receiver. Measure the time required for the signal to be sent and received and get the distance by multiplying it by the speed of light. Because there is an error, it is called pseudorange. Pseudorange residual refers to the difference between the pseudorange measurement value and the pseudorange model. That is, the difference between the actual measured value and the theoretically calculated model, and the same is true for radial velocity.

[0039] It can be seen that in this example, in order to improve the accuracy of detecting deceptive interference signals, the smart wearable device will capture, track, and analyze the original navigation signal after receiving the original navigation signal to obtain the signal characteristics, thereby facilitating the subsequent detection process, improving the accuracy and efficiency of interference detection, and thus improving the safety of the device.

[0040] In a possible embodiment, when the original navigation signal is received, before the signal characteristics are determined according to the original navigation signal, the method further includes: in response to a voice instruction from a user indicating to turn on the navigation function, turning on the navigation function to search for the original navigation signal; or, in response to a selection operation of a target control by the user, turning on the navigation function; or, in response to a successful connection instruction, turning on the positioning function.

[0041] The target control is a control corresponding to the navigation function in the interactive interface of the smart wearable device. The successful connection instruction is used to indicate that the smart wearable device has established a communication connection with the vehicle system of the target vehicle.

[0042] Among them, the smart wearable device in this application supports navigation function and is equipped with a variety of corresponding trigger mechanisms, such as side button triggering of the smart wearable device body, voice command triggering, special sensing gesture triggering and automatic triggering after connecting to a specific device.

[0043] For example, see Figure 2 , Figure 2 Schematic diagram of a scenario for triggering a navigation function provided by an embodiment of the present application. Figure 2 As stated, Figure 2 01 in the figure is the navigation function triggered by the side button of the smart wearable device described in this example. Figure 2 02 in the example is the special sensing gesture triggering navigation function of the smart wearable device described in this example. Figure 2 The gesture shown in is a check mark. Figure 2 03 in this example is the automatic triggering of the navigation function after connecting with the target vehicle. Figure 2 04 in the figure is a voice command to trigger the navigation function, and the content of the voice command may be "turn on navigation".

[0044] It can be seen that in this example, the smart wearable device in this application can trigger the navigation function through a variety of trigger mechanisms, and further trigger the subsequent interference detection process and interference suppression process, thereby improving the accuracy of the smart wearable device in performing positioning operations, and improving the security of the device, effectively reducing the impact of deceptive interference signals on the device, and improving the intelligence of the smart wearable device.

[0045] Step S102: performing interference detection operation according to the signal characteristics to determine the detection result.

[0046] The detection result is used to characterize whether the signal feature is abnormal, and when the signal feature is abnormal, the abnormality type corresponding to the abnormality.

[0047] Among them, the reason why the present application performs interference detection operation is mainly to determine whether the received original navigation signal is a deceptive interference signal. "Deceptive interference signal" refers to a navigation signal that simulates the real satellite. The main types include: 1. Expired signals sent earlier. 2. Signals with false telegram information in the signal; 3. Signals sent by simulators at close range. This type of signal is a malicious attack on the navigation system, intended to mislead the receiving device and cause it to calculate incorrect location information. In response to the appearance of this type of signal, the present application adopts anti-deceptive interference technology and is mainly divided into two aspects: deceptive interference detection and deceptive interference suppression. The interference detection operation provided by the present application mainly identifies deceptive signals by monitoring abnormal changes in the characteristics of the received signal, and deceptive interference suppression is to suppress and eliminate the detected deceptive interference signals when deceptive interference has been detected. The present application adopts a combination of multiple interference detection technologies and interference suppression technologies to achieve effective detection and suppression of deceptive interference signals in different forms.

[0048] In a possible embodiment, the interference detection operation is performed for the signal characteristics to determine the detection result, including: if the actual power difference is greater than the preset power, the abnormality type is determined to be a signal power abnormality, and the detection result is output according to the signal power abnormality; if the time interval between the current time information and the reference time information exceeds the preset time, the abnormality type is determined to be a signal arrival time abnormality, and the detection result is output according to the signal arrival time abnormality; if the satellite operating parameters fail to be verified according to the pre-stored reference operating parameters, the abnormality type is determined to be a navigation message abnormality, and the detection result is output according to the navigation message abnormality; if the signal characteristics are all normal, the original navigation signal is determined to be normal, and the detection result is output.

[0049] Among them, the actual power difference is the absolute value of the difference between the original signal power and the reference signal power, the reference signal power is the power average of the navigation signal received by the smart wearable device under normal conditions; the reference time information is the local time information determined by the smart wearable device when receiving the original navigation signal.

[0050] Among them, the abnormal types of signal characteristics include the following three types: signal power abnormality, signal arrival time abnormality and navigation message abnormality. Signal power abnormality means that the power of the received signal is significantly stronger than the signal transmitted by the satellite. Since the satellite is very far away, the received signal strength is generally fixed and the value is small. This detection is aimed at the deception interference signal sent by the simulator at close range; signal arrival time abnormality means that there is a current time signal in the satellite message. If the time is obviously inconsistent with the current time, such as the time is 2020; this detection is aimed at the expired signal sent earlier by the deception interference signal; pseudorange residual and radial velocity residual abnormalities, clock bias, clock drift abnormalities, and message information abnormalities are all parameter information contained in the satellite message. If it does not match the actual detected parameter information, it is an abnormality. This detection is aimed at the deception interference signal whose message information in the signal is false.

[0051] For example, see Figure 3 , Figure 3 FIG. 1 is a schematic diagram of a scenario of an interference detection operation provided by an embodiment of the present application. Figure 3 As shown, Figure 3 01 in the figure is a smart watch which is one of the types of smart wearable devices. Figure 3 02 is used to indicate that the watch has turned on the navigation function, and then the watch can receive Figure 3 The navigation signal sent by the 03 satellite in the watch. This signal may be a signal sent by a real satellite or a deceptive interference signal sent by a simulated satellite, so the watch needs to perform Figure 3 04 in the figure is used to obtain the detection result, which is used to characterize whether the navigation signal is abnormal. Figure 3 Zhong04 specifically includes three types of detection: the first is the detection of signal power (also known as signal strength), the second is the detection of signal arrival time, and the third is the detection of navigation message content. Among them, the second and third detections require the watch to capture and track the navigation signal and analyze it before they can be carried out.

[0052] It can be seen that in this example, the smart wearable device adds interference detection operations after determining the signal characteristics to implement different detection operations for different types of deceptive interference information, thereby improving the accuracy and efficiency of electronic devices in detecting interference signals, thereby improving the accuracy of positioning.

[0053] Step S103: if the detection result is characterized as abnormal, then the interference suppression strategy associated with the abnormal type is executed, and the original navigation signal is received again.

[0054] Among them, the present application provides different interference suppression for different abnormal types that may occur.

[0055] In a possible embodiment, if the abnormality type is the signal power abnormality; the execution of the interference suppression strategy associated with the abnormality type and the re-receiving of the original navigation signal include: releasing the channel corresponding to the original navigation signal, determining that the current state is an unlocked state; obtaining a historical capture set; determining that the satellite number whose interval between the historical capture time and the current time is less than a preset interval is the satellite number to be searched; determining a first signal recapture range based on the satellite number to be searched; re-receiving the original navigation signal based on the first signal recapture range; if the original navigation signal that meets the first signal recapture range is not received within the preset time, then re-receiving the original navigation signal that meets the second signal recapture range.

[0056] Among them, the historical capture set includes historical capture time, signal information corresponding to historical navigation signals, the signal information includes satellite number and historical signal power, each historical capture time corresponds to one signal information, and the second signal recapture range is associated with the historical signal power corresponding to the satellite number to be searched.

[0057] Among them, this example is a lost lock recapture range setting, which is used when the detection result is characterized as abnormal, the smart wearable device first releases the channel to return to the lost lock state, and then sets the range of the recaptured navigation signal to reduce the possibility of interference by the spoofing interference signal. Specifically, by obtaining the historical capture set, and determining the recently captured satellite number in the historical capture set as the satellite number to be searched as the first signal recapture range for priority recapture. The reason for this setting is that by obtaining the recently captured satellite number to search for navigation signals, it is possible to effectively avoid capturing the spoofing interference signal again and effectively suppress interference. If the original navigation signal that meets the first signal recapture range is not received within the preset time, the original navigation signal whose signal power is associated with the historical signal power is searched, which effectively avoids the reappearance of the navigation signal with abnormal signal power.

[0058] It can be seen that in this example, after receiving a navigation signal with abnormal signal power, the smart wearable device improves the device's search strategy and range for the navigation signal, thereby reducing the time required to recapture the signal after loss of lock and reducing the possibility of searching for a navigation signal with abnormal signal power again, thereby improving the stability of the electronic device.

[0059] In a possible embodiment, if the abnormality type is the signal arrival time abnormality; the execution of the interference suppression strategy associated with the abnormality type and re-receiving the original navigation signal includes: releasing the channel corresponding to the original navigation signal; obtaining a preset extended Kalman filter and a corresponding reference navigation signal whose detection result is normal; adjusting the parameters corresponding to the extended Kalman filter according to the reference navigation signal; and inputting the re-received original navigation signal into the adjusted extended Kalman filter to obtain the original navigation signal after interference suppression.

[0060] Among them, this example uses an extended Kalman filter to remove interference from the original navigation signal received next time. Extended Kalman Filter (EKF) is a filter used for state estimation in nonlinear systems. The performance of the extended Kalman filter is also closely related to the selection of the process model. By adjusting the process model and parameters, the dynamic characteristics of the system can be better described, and the adaptability of the extended Kalman filter to nonlinear systems can be improved. In order to make navigation and positioning more accurate, this example adjusts the corresponding parameters and models in the filter by obtaining a reference navigation signal with a normal detection result, so that the subsequent extended Kalman filter can better achieve interference suppression for the newly received navigation signal. In addition, while resisting interference, the extended Kalman filter can also be adjusted to effectively reduce the noise caused by the surrounding environment and sensors.

[0061] It can be seen that in this example, when the anomaly type is signal arrival time anomaly, the present application obtains a preset extended Kalman filter and modifies its parameters to improve its performance and adapt it to different working conditions, thereby improving its performance and efficiency in achieving interference suppression, and improving the accuracy and efficiency of smart wearable devices in performing positioning and navigation functions.

[0062] In a possible embodiment, the abnormality type is the navigation message abnormality; the executing the interference suppression strategy associated with the abnormality type and re-receiving the original navigation signal include: releasing the channel corresponding to the original navigation signal; acquiring a historical positioning information set; performing an autonomous integrity monitoring operation according to the historical positioning positions, the pseudorange residuals and the radial velocity residuals corresponding to two adjacent historical positioning times to determine the faulty navigation message; determining that the satellite number corresponding to the faulty navigation message is a faulty satellite number; and re-receiving the original navigation signal sent by the satellite corresponding to a normal satellite number.

[0063] Among them, the historical positioning information set includes historical navigation messages, historical positioning positions and historical positioning times, each of the historical positioning positions corresponds to a historical positioning time and multiple historical navigation messages, the historical navigation messages include pseudorange residuals and radial velocity residuals, and the normal satellite numbers are the remaining satellite numbers that can be received by the smart wearable device except the faulty satellite number.

[0064] Among them, Receiver Autonomous Integrity Monitoring (RAIM) is a function of GPS receivers used in satellite navigation systems. RAIM is a mechanism that can detect satellite signal anomalies or errors, and is designed to ensure the reliability and integrity of navigation signals. Through autonomous integrity monitoring operations, the satellite corresponding to the faulty navigation message that may cause position solution errors can be effectively determined, thereby increasing the possibility that the state of the satellite corresponding to the navigation signal received by the smart wearable device next time is normal, thereby improving the accuracy and stability of the positioning and navigation functions. This example mainly obtains the historical navigation message, historical positioning position, and historical positioning time obtained by the smart wearable device when performing accurate positioning previously by obtaining a set of historical positioning information. The smart wearable device determines the pseudorange residual and radial velocity residual by calculating the data corresponding to two adjacent historical positioning times, thereby eliminating possible satellite signals, and then determining the faulty satellite and the corresponding faulty satellite number.

[0065] It can be seen that in this example, the smart wearable device reuses the navigation message obtained by parsing each detection to solve the faulty satellite and the faulty navigation message, thereby shortening the range of re-receiving the navigation signal. While improving the efficiency and accuracy of re-receiving the navigation signal, it also improves the accuracy and stability of the smart wearable device in determining the positioning position and executing the navigation function, thereby improving the reusability and practicality of the data.

[0066] Step S104, repeating the above process until the detection result corresponding to the re-received original navigation signal is characterized as normal.

[0067] For example, see Figure 4 , Figure 4 1 is a schematic flow chart of a smart wearable device performing interference detection and suppression operations provided by an embodiment of the present application. Figure 4As shown, after the smart wearable device receives the original navigation signal, it will perform interference detection operations on the original navigation signal, where the interference detection operation includes detecting whether the signal power is abnormal, detecting whether the signal arrival time is abnormal, and detecting whether the parsed navigation message is abnormal. If an abnormality is detected based on the interference detection operation, the channel will be released to recapture the original navigation signal, and capture and track the new original navigation signal and subsequent interference detection operations will be performed. It should be noted that after the interference detection operation, if an abnormality is detected, the smart wearable device will also perform interference suppression operations to reduce the possibility of the next recaptured original navigation signal being interfered by the deceptive interference signal, and improve the efficiency of the smart wearable device in recapture of the original navigation signal. The specific interference suppression operations include loss of lock recapture settings, autonomous integrity monitoring operations, and extended Kalman filters.

[0068] visible, Figure 1 This is a flow chart of a signal anti-interference method provided by an embodiment of the present application. After receiving the original navigation signal, the smart wearable device first performs interference detection operations according to the signal characteristics of the navigation signal. If an abnormality is determined, the interference suppression strategy associated with the abnormality type is executed, and the original navigation signal is received again. In this way, the possibility of interference of the navigation signal received by the smart wearable device is reduced, and the success rate and diversity of eliminating and suppressing interference signals are improved.

[0069] The following is an embodiment of the device of the present application. The embodiment of the device of the present application and the embodiment of the method of the present application are of the same concept and are used to execute the method described in the embodiment of the present application. For the convenience of explanation, the embodiment of the device of the present application only shows the part related to the embodiment of the device of the present application. For the specific technical details not disclosed, please refer to the description of the embodiment of the method of the present application, which will not be repeated here one by one.

[0070] The embodiment of the present application provides a signal anti-interference device, and the navigation signal processing device is applied to a smart wearable device. Specifically, the signal anti-interference device is used to execute the steps performed by the smart wearable device in the above signal anti-interference method. The signal anti-interference device provided in the embodiment of the present application may include modules corresponding to the corresponding steps.

[0071] The embodiment of the present application can divide the functional modules of the signal anti-interference device according to the above method example. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules. The division of modules in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0072] In the case of dividing each functional module into corresponding functional modules, Figure 5 It is a functional unit composition block diagram of a signal anti-interference device provided in an embodiment of the present application; the signal anti-interference device 50 is applied to an intelligent wearable device, and the device includes: a feature determination unit 501, which is used to determine the signal feature according to the original navigation signal when the original navigation signal is received; an interference detection unit 502, which is used to perform an interference detection operation on the signal feature to determine a detection result, and the detection result is used to characterize whether the signal feature is abnormal, and when the signal feature is abnormal, the abnormality type corresponding to the abnormality; an interference suppression unit 503, which is used to execute an interference suppression strategy associated with the abnormality type if the detection result is characterized as abnormal, and re-receive the original navigation signal; a repeated execution unit 504, which is used to repeatedly execute the above process until the detection result corresponding to the re-received original navigation signal is characterized as normal.

[0073] In a possible embodiment, in terms of determining the signal characteristics according to the original navigation signal when the original navigation signal is received, the characteristic determination unit 501 is specifically used to: determine the original signal power of the received original navigation signal; capture the original navigation signal, and perform a tracking operation on the original navigation signal; if the tracking is successful, demodulate the original navigation signal to determine the navigation message; parse the navigation message to determine the current time information and the satellite operating parameters corresponding to the navigation satellite; determine the signal arrival time according to the current time information; and determine the signal characteristics according to the signal arrival time, the original signal power and the satellite operating parameters.

[0074] In a possible embodiment, in terms of performing an interference detection operation for the signal feature to determine a detection result, the interference detection unit 502 is specifically used to: if the actual power difference is greater than the preset power, determine that the abnormality type is a signal power abnormality, and output the detection result according to the signal power abnormality, the actual power difference is the absolute value of the difference between the original signal power and the reference signal power, and the reference signal power is the power average value of the navigation signal received by the smart wearable device under normal conditions; if the time interval between the current time information and the reference time information exceeds the preset time, determine that the abnormality type is a signal arrival time abnormality, and output the detection result according to the signal arrival time abnormality, the reference time information is the local time information determined by the smart wearable device when receiving the original navigation signal; if the satellite operating parameters fail to be verified according to the pre-stored reference operating parameters, determine that the abnormality type is a navigation message abnormality, and output the detection result according to the navigation message abnormality; if the signal features are all normal, determine that the original navigation signal is normal, and output the detection result.

[0075] In a possible embodiment, if the abnormality type is the signal power abnormality; in terms of executing the interference suppression strategy associated with the abnormality type and re-receiving the original navigation signal, the interference suppression unit 503 is specifically used to: release the channel corresponding to the original navigation signal, and determine that the current state is a lost state; obtain a historical capture set, the historical capture set includes historical capture time, signal information corresponding to the historical navigation signal, the signal information includes the satellite number and the historical signal power, and each historical capture time corresponds to one signal information; determine that the satellite number whose interval between the historical capture time and the current time is less than a preset interval is the satellite number to be searched; determine a first signal recapture range based on the satellite number to be searched; re-receive the original navigation signal based on the first signal recapture range; if the original navigation signal that meets the first signal recapture range is not received within the preset time, then re-receive the original navigation signal that meets the second signal recapture range, and the second signal recapture range is associated with the historical signal power corresponding to the satellite number to be searched.

[0076] In a possible embodiment, if the abnormality type is the signal arrival time abnormality; in terms of executing the interference suppression strategy associated with the abnormality type and re-receiving the original navigation signal, the interference suppression unit 503 is specifically used to: release the channel corresponding to the original navigation signal; obtain a preset extended Kalman filter and a corresponding reference navigation signal whose detection result is normal; adjust the parameters corresponding to the extended Kalman filter according to the reference navigation signal; and input the re-received original navigation signal into the adjusted extended Kalman filter to obtain the original navigation signal after interference suppression.

[0077] In a possible embodiment, the abnormality type is the navigation message abnormality; in terms of executing the interference suppression strategy associated with the abnormality type and re-receiving the original navigation signal, the interference suppression unit 503 is specifically used to: release the channel corresponding to the original navigation signal; obtain a historical positioning information set, the historical positioning information set includes a historical navigation message, a historical positioning position and a historical positioning time, each of the historical positioning positions corresponds to a historical positioning time and multiple historical navigation messages, and the historical navigation message includes a pseudorange residual and a radial velocity residual; perform an autonomous integrity monitoring operation according to the historical positioning positions, the pseudorange residuals and the radial velocity residuals corresponding to two adjacent historical positioning times to determine the faulty navigation message; determine that the satellite number corresponding to the faulty navigation message is a faulty satellite number; and re-receive the original navigation signal sent by the satellite corresponding to the normal satellite number, the normal satellite number being the remaining satellite numbers that can be received by the smart wearable device except the faulty satellite number.

[0078] In a possible embodiment, when the original navigation signal is received, before the signal feature is determined according to the original navigation signal, the feature determination unit 501 is specifically used to: in response to a user's voice command to turn on the navigation function, turn on the navigation function to search for the original navigation signal; or, in response to the user's selection operation on a target control, turn on the navigation function, where the target control is a control corresponding to the navigation function in the interactive interface of the smart wearable device; or, in response to a successful connection instruction, turn on the positioning function, where the successful connection instruction is used to indicate that a communication connection has been established between the smart wearable device and the vehicle system of the target vehicle.

[0079] In the case of integrated units, such as Figure 6 As shown, Figure 6 This is a block diagram of the functional units of another signal anti-interference device provided in an embodiment of the present application. Figure 6 In the embodiment, the signal anti-interference device 50 includes: a processing module 612 and a communication module 611. The processing module 612 is used to control and manage the actions of the signal anti-interference device, for example, the steps of the feature determination unit 501, the interference detection unit 502, the interference suppression unit 503 and the repeated execution unit 504, and / or other processes for executing the technology described herein. The communication module 611 is used to support the interaction between the signal anti-interference device and other devices. Figure 6 As shown, the signal anti-interference device may include a storage module 613, and the storage module 613 is used to store program codes and data of the signal anti-interference device.

[0080] Among them, the processing module 612 can be a processor or a controller, for example, a central processing unit (CPU), a general processor, a digital signal processor (DSP), an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor can also be a combination that implements a computing function, for example, a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication module 611 can be a transceiver, an RF circuit or a communication interface, and the like. The storage module 613 can be a memory.

[0081] Among them, all relevant contents of each scenario involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and will not be repeated here. The above signal anti-interference device 50 can execute the above Figure 1 The signal anti-interference method shown.

[0082] The above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0083] Figure 7 is a structural block diagram of a smart wearable device provided in an embodiment of the present application. Figure 7 As shown, the smart wearable device 70 may include one or more of the following components: a processor 710, a memory 720 coupled to the processor 710, wherein the memory 720 may store one or more programs 721, and the one or more programs 721 may be configured to implement the methods described in the above embodiments when executed by one or more processors 710. The server described here is the server 110 in the above embodiments.

[0084] The processor 710 may include one or more processing cores. The processor 710 uses various interfaces and lines to connect the various parts of the entire smart wearable device 70, and executes various functions and processes data of the smart wearable device 70 by running or executing instructions, programs, code sets or instruction sets stored in the memory 720, and calling data stored in the memory 720. Optionally, the processor 710 can be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 710 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 710, but may be implemented separately through a communication chip.

[0085] The memory 720 may include a random access memory (RAM) or a read-only memory (ROM). The memory 720 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 720 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc. The data storage area may also store data created by the smart wearable device 70 during use, etc.

[0086] It is understandable that the smart wearable device 70 may include more or fewer structural elements than those in the above structural block diagram, which is not limited here.

[0087] An embodiment of the present application also provides a computer storage medium, on which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, part or all of the steps of any method recorded in the above method embodiments are implemented.

[0088] An embodiment of the present application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute part or all of the steps of any method recorded in the above method embodiments.

[0089] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0090] In the several embodiments provided in the present application, it should be understood that the disclosed methods, devices and systems can be implemented in other ways. For example, the device embodiments described above are merely schematic; for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation; for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0091] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0092] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may be physically included separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0093] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform some steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a volatile memory or a non-volatile memory. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM) or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (synchlink DRAM, SLDRAM) and direct memory bus random access memory (directrambus RAM, DR RAM) and other media that can store program code.

[0094] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions without departing from the spirit and scope of the present invention, and can make various changes and modifications, including the combination of the above-mentioned different functions and implementation steps, including software and hardware implementation methods, all of which are within the scope of protection of the present invention.

Claims

1. A signal anti-interference method, characterized in that: Applied to a smart wearable device, the method comprises: When an original navigation signal is received, a signal characteristic is determined according to the original navigation signal, including: determining an original signal power of the received original navigation signal; and, capturing the original navigation signal and performing a tracking operation on the original navigation signal; and, if the tracking is successful, demodulating the original navigation signal to determine a navigation message; and, parsing the navigation message to determine current time information and satellite operating parameters corresponding to the navigation satellite; and, determining a signal arrival time according to the current time information; and, determining a signal characteristic according to the signal arrival time, the original signal power and the satellite operating parameters; and, If the actual power difference is greater than the preset power, the abnormality type is determined to be a signal power abnormality, and a corresponding detection result is output according to the signal power abnormality, wherein the actual power difference is the absolute value of the difference between the original signal power and the reference signal power, and the reference signal power is the power average of the navigation signal received by the smart wearable device under normal conditions, and the detection result is used to characterize whether the signal feature is abnormal, and when the signal feature is abnormal, the abnormality type corresponding to the abnormality; If the time interval between the current time information and the reference time information exceeds a preset time, the abnormality type is determined to be a signal arrival time abnormality, and the corresponding detection result is output according to the signal arrival time abnormality, and the reference time information is the local time information determined by the smart wearable device when receiving the original navigation signal; If verification of the satellite operating parameters according to the pre-stored reference operating parameters fails, determining that the abnormality type is a navigation message abnormality, and outputting the corresponding detection result according to the navigation message abnormality; If the signal characteristics are all normal, determining that the original navigation signal is normal, and outputting the corresponding detection result; If the detection result is characterized as abnormal, an interference suppression strategy associated with the abnormality type is executed, and the original navigation signal is received again, including: if the abnormality type is the navigation message abnormality, the channel corresponding to the original navigation signal is released; and, a historical positioning information set is obtained, the historical positioning information set includes a historical navigation message, a historical positioning position and a historical positioning time, each of the historical positioning positions corresponds to a historical positioning time and multiple historical navigation messages, and the historical navigation message includes a pseudorange residual and a radial velocity residual; and, an autonomous integrity monitoring operation is performed according to the historical positioning positions, the pseudorange residuals and the radial velocity residuals corresponding to two adjacent historical positioning times to determine the faulty navigation message; and, it is determined that the satellite number corresponding to the faulty navigation message is the faulty satellite number; and, the original navigation signal sent by the satellite corresponding to the normal satellite number is received again, and the normal satellite number is the remaining satellite number that can be received by the smart wearable device except the faulty satellite number; The above process is repeated until the detection result corresponding to the re-received original navigation signal is characterized as normal.

2. The method according to claim 1, characterized in that If the abnormality type is the signal power abnormality; The executing the interference suppression strategy associated with the anomaly type and re-receiving the original navigation signal comprises: releasing the channel corresponding to the original navigation signal, and determining that the current state is a lost state; Acquire a historical capture set, the historical capture set including a historical capture time and signal information corresponding to a historical navigation signal, the signal information including a satellite number and a historical signal power, each historical capture time corresponding to one piece of signal information; Determine the satellite number whose interval between the historical capture time and the current time is less than a preset interval as the satellite number to be searched; Determining a first signal recapture range according to the satellite number to be searched; Re-receiving the original navigation signal according to the first signal recapture range; If the original navigation signal that meets the first signal recapture range is not received within a preset time, the original navigation signal that meets the second signal recapture range is re-received, and the second signal recapture range is associated with the historical signal power corresponding to the satellite number to be searched.

3. The method according to claim 1, characterized in that If the abnormality type is the abnormality of the signal arrival time; The executing the interference suppression strategy associated with the anomaly type and re-receiving the original navigation signal comprises: Releasing the channel corresponding to the original navigation signal; Acquire a preset extended Kalman filter and a corresponding reference navigation signal whose detection result is normal; Adjusting parameters corresponding to the extended Kalman filter according to the reference navigation signal; The re-received original navigation signal is input into the adjusted extended Kalman filter to obtain the original navigation signal after interference suppression.

4. The method according to any one of claims 1 to 3, characterized in that: Before determining the signal characteristic according to the original navigation signal when the original navigation signal is received, the method further includes: In response to a voice instruction from a user indicating to start a navigation function, starting the navigation function to search for the original navigation signal; or, In response to the user's selection operation on a target control, the navigation function is turned on, where the target control is a control corresponding to the navigation function in the interactive interface of the smart wearable device; or, In response to a successful connection instruction, the navigation function is turned on, and the successful connection instruction is used to indicate that a communication connection has been established between the smart wearable device and the vehicle system of the target vehicle.

5. A signal anti-interference device, characterized in that: Applied to smart wearable devices, the device comprises: A feature determination unit, configured to determine a signal feature according to an original navigation signal when an original navigation signal is received, comprising: determining an original signal power of the received original navigation signal; and, capturing the original navigation signal, and performing a tracking operation on the original navigation signal; and, if the tracking is successful, demodulating the original navigation signal to determine a navigation message; and, parsing the navigation message to determine current time information and a satellite operating parameter corresponding to a navigation satellite; and, determining a signal arrival time according to the current time information; and, determining a signal feature according to the signal arrival time, the original signal power and the satellite operating parameter; An interference detection unit, for determining that the abnormality type is a signal power abnormality if the actual power difference is greater than a preset power, and outputting a corresponding detection result according to the signal power abnormality, wherein the actual power difference is the absolute value of the difference between the original signal power and the reference signal power, and the reference signal power is the power average of the navigation signal received by the smart wearable device under normal conditions, and the detection result is used to characterize whether the signal feature is abnormal, and when the signal feature is abnormal, the abnormality type corresponding to the abnormality; if the time interval between the current time information and the reference time information exceeds a preset time, determining that the abnormality type is a signal arrival time abnormality, and outputting a corresponding detection result according to the signal arrival time abnormality, and the reference time information is the local time information determined by the smart wearable device when receiving the original navigation signal; if the satellite operating parameters fail to be verified according to the pre-stored reference operating parameters, determining that the abnormality type is a navigation message abnormality, and outputting a corresponding detection result according to the navigation message abnormality; if the signal features are all normal, determining that the original navigation signal is normal, and outputting a corresponding detection result; An interference suppression unit is used to execute an interference suppression strategy associated with the abnormality type if the detection result is characterized as abnormal, and re-receive the original navigation signal, including: if the abnormality type is the navigation message abnormality, releasing the channel corresponding to the original navigation signal; and obtaining a historical positioning information set, the historical positioning information set including historical navigation messages, historical positioning positions and historical positioning times, each of the historical positioning positions corresponding to a historical positioning time and multiple historical navigation messages, the historical navigation messages including pseudorange residuals and radial velocity residuals; and performing an autonomous integrity monitoring operation according to the historical positioning positions, the pseudorange residuals and the radial velocity residuals corresponding to two adjacent historical positioning times to determine a faulty navigation message; and determining that the satellite number corresponding to the faulty navigation message is a faulty satellite number; and re-receiving the original navigation signal sent by the satellite corresponding to a normal satellite number, the normal satellite number being the remaining satellite numbers that can be received by the smart wearable device except the faulty satellite number; The repetitive execution unit is used to repeatedly execute the above process until the detection result corresponding to the re-received original navigation signal is characterized as normal.

6. A smart wearable device, characterized in that: The method comprises a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the programs include instructions for executing the steps in the method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that: A computer program for electronic data exchange is stored, wherein the computer program enables a computer to execute the method according to any one of claims 1 to 4.

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