Navigation fault detection method and electronic device

Abstract

The application provides a navigation fault detection method and an electronic device. The method comprises: obtaining first data, the first data comprising a plurality of observation values measured by a plurality of sensors in a first device at a first time; obtaining first state information of the first device at the first time according to the first data; detecting whether the first device is interfered by GNSS according to the first data and the first state information; and displaying a first interface when it is detected that the first device is interfered by GNSS, the first interface comprising first prompt information, the first prompt information indicating that the first device is interfered by GNSS. The application can detect navigation faults caused by GNSS interference signals in different ways according to different change characteristics of GNSS interference, improve the accuracy of fault detection, reduce the missed detection rate of faults, and effectively improve the positioning accuracy and safety of navigation electronic devices in automatic driving.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computers, and particularly relates to a navigation fault detection method and an electronic device. BACKGROUND

[0002] Global Navigation Satellite System (GNSS) interference refers to that an interferer simulates and transmits a false GNSS interference signal through a software radio platform, so that a target receiver is invaded and taken over by the interference signal, and thus outputs an incorrect positioning result. The incorrect positioning result can cause adverse consequences. For example, in an automatic driving scenario, the interferer can design a precise GNSS interference algorithm for a multi-sensor fusion framework (GNSS position information output by the multi-sensor fusion framework is used for vehicle navigation and automatic driving) of a target vehicle, so that the multi-sensor fusion framework is taken over and outputs incorrect / false GNSS position information, causing the vehicle to deviate from a normal planned route and causing an accident. At present, the industry has not proposed effective measures to accurately detect navigation faults caused by GNSS interference signals, and the fault miss detection rate is high. SUMMARY

[0003] The present application discloses a navigation fault detection method and an electronic device. Based on the different characteristics of GNSS interference in different time periods, different ways are used to detect navigation faults caused by GNSS interference signals for different changes, to improve the accuracy of fault detection, reduce the fault miss detection rate, and effectively improve the positioning accuracy and safety of the electronic device in automatic driving.

[0004] In a first aspect, an embodiment of the present application provides a navigation fault detection method applied to a first device, and the method comprises the following steps: acquiring first data, wherein the first data comprises a plurality of observation values measured by a plurality of sensors in the first device at a first time; obtaining first state information of the first device at the first time according to the first data; detecting whether the first device is interfered by a Global Navigation Satellite System (GNSS) according to the first data and the first state information; and when it is detected that the first device is interfered by the GNSS, displaying a first interface, wherein the first interface comprises first prompt information, and the first prompt information indicates that the first device is interfered by the GNSS.

[0005] In the method, the electronic device can obtain the first state information of the first device at the first time according to the multiple observation values, and detect whether the electronic device is interfered by GNSS according to the multiple observation values and the first state information, so as to monitor the starting time of GNSS interference. When it is detected that the electronic device is interfered, the electronic device can timely alarm the user, for example, display the first prompt information, so as to prompt the user that the electronic device is currently interfered by GNSS, avoid the mispositioning information output due to GNSS interference affecting the use of the user, cause an accident, improve the safety of the electronic device when driving, improve the accuracy of fault detection, and reduce the missed detection rate of faults.

[0006] In a possible implementation, the detecting whether the first device is interfered by GNSS according to the first data and the first state information comprises: detecting whether the first device is interfered by GNSS according to the first data, historical data corresponding to the first data, the first state information, and historical state information corresponding to the first state information.

[0007] In the method, the electronic device can detect whether the first device is interfered by GNSS according to the first data at the first time, the first state information, and historical data (i.e., the historical data corresponding to the first data and the historical state information corresponding to the first state information) before the first time, so as to avoid that the Kalman filter only considers the observation value at the current time (i.e., the first time) and ignores the constraint of the data at the historical time on the data at the current time, and further improve the accuracy of fault detection.

[0008] In a possible implementation, the detecting whether the first device is interfered by GNSS according to the first data, the historical data corresponding to the first data, the first state information, and the historical state information corresponding to the first state information comprises: obtaining second data according to the first data, the historical data corresponding to the first data, the second state information, and the historical state information corresponding to the second state information; obtaining a first statistical quantity of the first device at the first time according to the second data, and determining that the first device is interfered by GNSS when the first statistical quantity is greater than or equal to a first threshold.

[0009] In the method, the electronic device can detect the soft fault of the slow change in GNSS interference in time through the first statistical quantity, so as to monitor the starting time of GNSS interference, improve the accuracy of fault detection, and reduce the missed detection rate of faults.

[0010] In a possible implementation, the method further includes: when it is detected that the first device is not interfered by the GNSS, displaying a second interface, the second interface including a first position and a first route, the first position being a position of the first device at the first time estimated according to second state information, and the first route being a navigation route of the first device at the first time estimated according to the second state information.

[0011] In the method, when it is detected that the electronic device is not interfered by the GNSS, the electronic device can display a position and a navigation route at the first time obtained according to first data and automatically travel according to the navigation route, facilitating a user to view a real-time position and a navigation route of the electronic device in a current journey and monitor a road condition, and improving safety of driving.

[0012] In a possible implementation, the method further includes: when it is detected that the first device is interfered by the GNSS, displaying a third interface, the third interface including a second position and a second route, the second position being a position of the first device at the first time estimated according to the first state information, and the second route being a navigation route of the first device at the first time estimated according to the first state information.

[0013] In the method, when it is detected that the electronic device is interfered by the GNSS, the electronic device can display a second position and a second route at the first time obtained according to first state information, the second position being closer to a real position of the electronic device when the electronic device is interfered by the GNSS, avoiding that an error positioning information output by the electronic device due to the GNSS interference deviates from a normal planned route and causes an accident, and improving positioning accuracy and safety of automatic driving of the electronic device.

[0014] In a possible implementation, the first state information is obtained according to a first algorithm, and the second state information is obtained according to a second algorithm, the first algorithm being a recognition suppression algorithm, and the second algorithm being a multi-sensor fusion MSF positioning algorithm.

[0015] In the method, a position obtained by the recognition suppression algorithm based on a factor graph is closer to a real position of the electronic device when the electronic device is interfered by the GNSS, so that the electronic device can still output correct position information when the electronic device is interfered by the GNSS. The MSF positioning algorithm only considers observation values at a current time, ignores constraints of data at historical times on data at the current time, and has a higher requirement for linearization and noise distribution of a system. When a measurement model is nonlinear and / or noise does not conform to a Gaussian distribution, fusion accuracy is not high, and estimated state information is not accurate.

[0016] In a possible implementation, the first state information includes at least one of a position, a pose, a speed, a time of the first device.

[0017] In a possible implementation, the method further includes: receiving a first operation when the first interface is displayed; and in response to the first operation, displaying a third interface, the third interface including a second position and a second route, the second position being a position of the first device at the first time estimated according to the first state information, and the second route being a navigation route of the first device at the first time estimated according to the first state information.

[0018] In the method, the electronic device can discover signal abnormalities before a dangerous collision occurs, and prompt a user that the current driving safety is about to be threatened. After receiving a user operation, the electronic device can display a second position and a second route at the first time obtained according to the first state information, the second position being closer to the real position of the electronic device when the electronic device is interfered by GNSS. This avoids that the electronic device deviates from a normally planned route due to incorrect positioning information output by the electronic device when interfered by GNSS, and causes an accident, and improves positioning accuracy and safety of the electronic device when the electronic device is automatically driven.

[0019] In a possible implementation, when it is detected that the first device is interfered by GNSS, the first interface is displayed, including: when it is detected that the first device is interfered by GNSS, if a defense function is not started, the first interface is displayed; and the method further includes: when it is detected that the first device is interfered by GNSS, if the defense function is started, a third interface is displayed, the third interface including a second position and a second route, the second position being a position of the first device at the first time estimated according to the first state information, and the second route being a navigation route of the first device at the first time estimated according to the first state information.

[0020] In the method, if the defense function is not started, the electronic device can display the first interface when the electronic device is interfered by GNSS, to prompt the user to start the defense function, and improve safety of the electronic device when the electronic device is driven. If the defense function is started, the electronic device can output correct position information when the electronic device is interfered by GNSS, and improve positioning accuracy of the electronic device when the electronic device is driven.

[0021] In a possible implementation, the method further includes: when the first interface is displayed, a driving mode of the first device is an automatic driving mode; and after the first interface is displayed, the method further includes: receiving a second operation, the second operation being used to switch the automatic driving mode to a manual driving mode.

[0022] In the above method, the electronic device can switch the automatic driving mode to the manual driving mode according to the user operation when the electronic device is subjected to GNSS interference, avoid that the electronic device deviates from the normal planned route due to the error positioning information output by the GNSS interference and affects the use of the user, further improve the safety of the electronic device when driving, and thus ensure the safety of the user.

[0023] In a possible implementation, the detection of the GNSS interference on the first device includes: when the offset distance greater than or equal to the offset threshold is detected, it is determined that the first device is subjected to GNSS interference, the offset distance is the difference between the first position estimated according to the first algorithm and the second position estimated according to the second algorithm, the first algorithm is the recognition suppression algorithm, and the second algorithm is the MSF positioning algorithm; when the offset distance is less than the offset threshold, it is determined that the GNSS interference on the first device ends.

[0024] In the above method, when the offset distance of the electronic device is greater than or equal to the offset threshold, the electronic device may deviate from the normal planned route, which may easily cause an accident. Therefore, when the offset distance is greater than or equal to the offset threshold, the electronic device determines that it is subjected to GNSS interference, to ensure the safety when driving.

[0025] In a possible implementation, the method further includes: when it is detected that the first device is not subjected to GNSS interference, the first device is located in the first lane; and the offset distance is the distance between the first position estimated by the first algorithm and the lane boundary line, and the lane boundary line is the boundary line between the first lane and the adjacent lane.

[0026] In the above method, when the electronic device is switched from the first lane being driven to the adjacent lane, the electronic device deviates from the normal planned route, and therefore, the electronic device determines that it is subjected to GNSS interference.

[0027] In a possible implementation, the method further includes: after it is detected that the first device is subjected to GNSS interference, second data is acquired, the second data includes a plurality of observation values measured by the plurality of sensors at a second time, the second time is later than the first time; whether the GNSS interference on the first device ends is detected according to the second data; and when it is detected that the GNSS interference on the first device ends, second prompt information is displayed, the second prompt information indicates that the GNSS interference on the first device ends.

[0028] In the method, after the electronic device is interfered by the GNSS, the electronic device can detect whether the GNSS interference on the electronic device ends according to the plurality of observation values at the second time, so as to monitor the ending time of the GNSS interference, avoid false alarms caused by untimely detection, and make the normal GNSS signal unable to be used for navigation and positioning. When it is detected that the GNSS interference ends, alarm ending information is displayed, the user is prompted that the current driving safety threat is removed, the safety of the electronic device during driving is improved, the accuracy of fault detection is improved, and the fault omission rate is reduced.

[0029] In a possible implementation, the method further includes: after detecting that the GNSS interference on the first device ends, displaying a fourth interface, the fourth interface including a third position and a third route, the third position being a position of the first device at the second time estimated according to third state information, and the third route being a navigation route of the first device at the second time estimated according to the third state information, the third state information being obtained according to a second algorithm, and the second algorithm being an MSF positioning algorithm.

[0030] In the method, after the electronic device detects that the GNSS interference ends, the electronic device can return to the third position and the third route estimated by the MSF positioning algorithm, so as to avoid the recognition suppression algorithm from occupying too much running memory of the electronic device, and save memory resources.

[0031] In a possible implementation, after the second interface is displayed, the method further includes: when it is detected that the first device is interfered by the GNSS, if the defense function is not started, displaying a fifth interface, the fifth interface including a fourth position and a fourth route, the fourth position and the fourth route being obtained according to a second algorithm, the fourth position corresponding to a time later than the first time, the fourth position being different from the first position, and the fourth route being different from the first route, and the second algorithm being an MSF positioning algorithm.

[0032] In the method, if the electronic device continues to be interfered by the GNSS and the defense function is not started, the electronic device displays the fourth position and the fourth route obtained by the MSF positioning algorithm. At this time, the fourth position and the fourth route are inaccurate positioning information, which can cause the electronic device to deviate from the normal planned route and cause an accident.

[0033] In a possible implementation, the detecting whether the GNSS interference on the first device ends according to the second data comprises: obtaining third data according to the second data and a first estimated value, the first estimated value being obtained according to part of the observation values in the second data, the first estimated value being obtained according to a first algorithm, the first algorithm being a recognition suppression algorithm, the first estimated value corresponding to the second time, and the third data corresponding to the second time; when the GNSS interference on the first device is detected at a third time, obtaining a second statistic according to the second data, the third time being a time point before the second time, and the second statistic corresponding to the second time; when the second statistic is greater than or equal to a first threshold, obtaining a third statistic according to the third data, the third statistic corresponding to the second time; and when the third statistic is greater than or equal to a second threshold, determining that the GNSS interference on the first device ends.

[0034] In the method, the electronic device can combine the second statistic and the third statistic to timely detect a sudden hard fault in the GNSS interference, monitor an ending time of the GNSS interference, improve the accuracy of fault detection, and reduce the missed detection rate of faults.

[0035] In a second aspect, the present application provides an electronic device, comprising a transceiver, a processor and a memory, the memory is configured to store a computer program, and the processor is configured to invoke the computer program to execute the navigation fault detection method in any possible implementation of the first aspect.

[0036] In a third aspect, the present application provides an electronic device, comprising one or more processors and one or more memories. The one or more memories are coupled to the one or more processors, and the one or more memories are configured to store computer program codes, the computer program codes comprising computer instructions, when the one or more processors execute the computer instructions, the electronic device executes the navigation fault detection method in any possible implementation of the first aspect.

[0037] In a fourth aspect, the present application provides a computer storage medium, the computer storage medium stores a computer program, when the computer program is executed by a processor, the navigation fault detection method in any possible implementation of any aspect is implemented.

[0038] In a fifth aspect, the present application provides a computer program product, when the computer program product is run on an electronic device, the electronic device executes the navigation fault detection method in any possible implementation of the first aspect.

[0039] In a sixth aspect, the present application provides an electronic device, which comprises the method or the apparatus of any implementation manner of the first aspect of the present application. The electronic device is, for example, a chip. BRIEF DESCRIPTION OF DRAWINGS

[0040] The drawings used in the present application are described as follows.

[0041] Figure 1 is a schematic diagram of a hardware structure of an electronic device 100 provided by the present application;

[0042] Figure 2 is a schematic diagram of a software architecture of an electronic device 100 provided by the present application;

[0043] Figure 3 is a schematic diagram of a structure of an electronic device 100 provided by the present application;

[0044] Figures 4-6 is a schematic diagram of some user interfaces provided by the present application;

[0045] Figure 7 is a schematic diagram of a flow of a navigation fault detection method provided by the present application;

[0046] Figure 8 is a schematic diagram of a structure of a factor graph provided by the present application;

[0047] Figure 9 is a schematic diagram of a structure of a factor graph corresponding to a GNSS residual sequence provided by the present application;

[0048] Figure 10 is a schematic diagram of a flow of another navigation fault detection method provided by the present application;

[0049] Figure 11 is a schematic diagram of a structure of a factor graph corresponding to residual information provided by the present application;

[0050] Figure 12 is a schematic diagram of a logic of detecting end of GNSS interference in a combined first mode and second mode provided by the present application;

[0051] Figure 13 is a schematic diagram of a GNSS interference detection process provided by the present application. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the present application will be described below with reference to the drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B; the "and / or" in the text only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent: A alone, A and B together, and B alone, in addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0053] Hereinafter, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features, and in the description of the embodiments of the present application, unless otherwise specified, the meaning of "multiple" is two or more than two.

[0054] The position information provided by the Global Navigation Satellite System (GNSS) can be applied to automatic driving, terminal location-based services (such as navigation services), and other scenarios. Since the GNSS signal transmitted by the satellite itself has low strength, when the GNSS signal is weak and / or the GNSS signal is modulated, the GNSS signal is easily subjected to radio frequency interference, resulting in inaccurate / declining positioning accuracy, and even interruption of positioning service. GNSS jamming is a kind of radio frequency interference with strong intention. The jammer can simulate and transmit false GNSS jamming signals (such as counterfeit signals with the same parameters as GNSS satellite signals) through a software radio platform, so that the target receiver is invaded and taken over by the jamming signal, thereby outputting an incorrect positioning result. The incorrect positioning result can cause adverse consequences, for example, in automatic driving and navigation scenarios, the vehicle deviates from the normal planned route, causing accidents.

[0055] For convenience of description, the following embodiments are described taking the automatic driving scenario as an example.

[0056] In an autonomous driving scenario, a vehicle can navigate and drive autonomously based on GNSS position information output by a multi-sensor fusion (MSF) framework. The MSF framework can output GNSS position information based on detection signals of multiple sensors, such as but not limited to a GNSS receiver, an inertial measurement unit (IMU), a lidar, a camera, and the like. An interferer can design a sophisticated GNSS interference algorithm targeting the MSF framework of a target vehicle, so that the MSF framework is taken over and outputs erroneous / fake GNSS position information, causing the vehicle to deviate from a normal planned route and resulting in navigation failure, which can likely cause a safety accident.

[0057] Currently, the MSF framework is based on a Kalman filter to estimate state information of the vehicle, such as but not limited to position, attitude, velocity, time, and the like. In an implementation, the Kalman filter can include two stages of prediction and update. In the prediction stage, the Kalman filter can obtain an estimation result of a current state (which can be referred to as a current state for short) based on an estimation result of a previous state (which can be referred to as a previous state for short). In the update stage, an observation value of the current state is used to optimize the estimation result obtained in the prediction stage to obtain an optimal estimation result of the current state. For example, an estimation value at time k-1 is used to obtain an estimation value at time k, and an observation value at time k is used to optimize the estimation value at time k to obtain an optimal estimation value at time k. The estimation value can be estimated by a measurement model, and the observation value can be measured by multiple sensors, such as an acceleration and an angular velocity of the vehicle measured by an IMU. The measurement model can indicate a functional relationship between the observation value and the state to be estimated. The integrated navigation system based on the Kalman filter has a problem of inaccurate estimation of state information. For example, the Kalman filter only considers the estimation value of the previous state and the observation value of the current state, and ignores the constraint of historical state information (which can be referred to as historical information for short) on the current state information. For another example, the Kalman filter is based on Gaussian noise and a linear system, and has high requirements for linearization and noise distribution of the system. When the measurement model is nonlinear and / or the noise does not conform to Gaussian distribution, the fusion accuracy of the Kalman filter is not high, and the estimated state information is not accurate.

[0058] And, the GNSS interference is slowly changing at the beginning, at this time, the GNSS interference can cause a small, slowly changing soft failure, and the GNSS interference is suddenly changing at the end, at this time, the GNSS interference can cause a sudden hard failure. Currently, the GNSS interference signal can be detected by the residual chi-square detection method to detect the failure. The residual chi-square detection method has high detection sensitivity for sudden hard failures, but has low detection sensitivity for small, slowly changing soft failures. Therefore, the residual chi-square detection method cannot timely detect the slowly changing soft failure caused by the GNSS interference, and the failure detection rate is high, and the risk of accidents is high.

[0059] The application provides a navigation failure detection method. The method is applied to an electronic device. The electronic device can estimate state information using a recognition suppression algorithm based on a factor graph to obtain a real-time position / location result of the electronic device, thereby solving the problem of inaccurate state information estimated by a multi-sensor fusion (MSF) positioning algorithm. The electronic device can detect a slowly changing soft failure in GNSS interference using a detection method based on an exponential fading sequential probability ratio to monitor the start time of the GNSS interference. The electronic device can detect a sudden hard failure in GNSS interference using a method combining the exponential fading sequential probability ratio and chi-square test to monitor the end time of the GNSS interference. The application considers both the slowly changing and the sudden cases of GNSS interference, and uses different ways to detect failures for different cases, thereby improving the accuracy of failure detection and reducing the failure detection rate. In addition, the real-time position / location result obtained by the recognition suppression algorithm based on the factor graph is closer to the real position of the electronic device when the electronic device is subjected to GNSS interference, so that the electronic device can still output correct position information when subjected to GNSS interference, avoid the deviation of the error positioning information output by the electronic device due to GNSS interference from the normal planned route, cause accidents, and improve the positioning accuracy and safety of the electronic device during automatic driving.

[0060] In addition, the electronic device can show the detection process of the GNSS interference signal to the user in a visual form. For example, after the GNSS interference starts, the electronic device can display warning information to prompt the user that the current GNSS interference is subjected to. When the GNSS interference ends, the electronic device can display end-of-warning information to prompt the user that the current GNSS interference ends. During the GNSS interference, the electronic device can display the real-time position / location result obtained by the recognition suppression algorithm to avoid the influence of the error positioning information output by the electronic device due to GNSS interference on the use of the user, and further improve the safety of the electronic device during automatic driving, thereby ensuring the safety of the user.

[0061] In this application, the electronic device can be a mobile phone, a tablet computer, a handheld computer, a desktop computer, a laptop computer, an ultra-mobile personal computer (UMPC), a netbook, a cellular phone, a personal digital assistant (PDA), a smart television and the like smart home device, a smart bracelet, a smart watch, smart glasses and the like wearable device, an augmented reality (AR), a virtual reality (VR), a mixed reality (MR) and the like extended reality (XR) device, a vehicle-mounted device or a smart city device, and the like, and the specific type of the electronic device is not specially limited in this application.

[0062] Next, an exemplary electronic device 100 of an embodiment of the present application is introduced.

[0063] Figure 1 An exemplary hardware structure schematic diagram of an electronic device 100 is shown.

[0064] As shown in Figure 1 , the electronic device 100 can include a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (USB) interface 130, a charge management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a loudspeaker 170A, a receiver 170B, a microphone 170C, a headset interface 170D, a sensor module 180, a key 190, a motor 191, an indicator 192, a camera 193, a display screen 194, and a subscriber identification module (SIM) card interface 195, and the like. The sensor module 180 can include a pressure sensor 180A, a gyroscope sensor 180B, a barometric pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity light sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, a bone conduction sensor 180M, and the like.

[0065] It can be understood that the structural schematic of the embodiments of the present application does not constitute a specific limitation on the electronic device 100. In other embodiments of the present application, the electronic device 100 can include more or fewer components than those shown, or combine certain components, or split certain components, or different arrangement of components. The components shown can be implemented in hardware, software, or a combination of software and hardware.

[0066] The processor 110 can include one or more processing units. For example, the processor 110 can include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units can be independent devices or integrated in one or more processors.

[0067] The controller can generate operation control signals according to instruction operation codes and timing signals, and complete the control of fetching and executing instructions.

[0068] The processor 110 can also be provided with a memory for storing instructions and data. In an implementation, the memory in the processor 110 is a cache memory. The memory can save instructions or data that have just been used or are used repeatedly by the processor 110. If the processor 110 needs to use the instructions or data again, it can directly call from the memory. This avoids repeated access and reduces the waiting time of the processor 110, thereby improving the efficiency of the system.

[0069] In an embodiment, the processor 110 can include one or more interfaces. The interfaces can include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface, etc.

[0070] The I2C interface is a bidirectional synchronous serial bus, including a serial data line (SDA) and a serial clock line (SCL). In an embodiment, the processor 110 can include multiple sets of I2C buses. The processor 110 can be coupled to the touch sensor 180K, the charger, the flash, the camera 193, etc. through different I2C bus interfaces, respectively. For example, the processor 110 can be coupled to the touch sensor 180K through an I2C interface, so that the processor 110 and the touch sensor 180K communicate through the I2C bus interface, and the touch function of the electronic device 100 is realized.

[0071] The I2S interface can be used for audio communication. In an embodiment, the processor 110 can include multiple sets of I2S buses. The processor 110 can be coupled to the audio module 170 through the I2S bus, and communication between the processor 110 and the audio module 170 is realized. In an embodiment, the audio module 170 can deliver audio signals to the wireless communication module 160 through the I2S interface, and the function of answering a phone through a Bluetooth headset is realized.

[0072] The PCM interface can also be used for audio communication, which samples, quantizes and encodes analog signals. In an embodiment, the audio module 170 and the wireless communication module 160 can be coupled through the PCM bus interface. In an embodiment, the audio module 170 can also deliver audio signals to the wireless communication module 160 through the PCM interface, and the function of answering a phone through a Bluetooth headset is realized. Both the I2S interface and the PCM interface can be used for audio communication.

[0073] The UART interface is a universal serial bus for asynchronous communication. The bus can be a bidirectional communication bus. It converts the data to be transmitted between serial communication and parallel communication. In an embodiment, the UART interface is usually used to connect the processor 110 and the wireless communication module 160. For example, the processor 110 communicates with the Bluetooth module in the wireless communication module 160 through the UART interface to realize the Bluetooth function. In an embodiment, the audio module 170 can transmit audio signals to the wireless communication module 160 through the UART interface to realize the function of playing music through the Bluetooth earphone.

[0074] The MIPI interface can be used to connect the processor 110 and peripheral devices such as the display screen 194 and the camera 193. The MIPI interface includes a camera serial interface (CSI), a display serial interface (DSI), etc. In an embodiment, the processor 110 and the camera 193 communicate through the CSI interface to realize the shooting function of the electronic device 100. The processor 110 and the display screen 194 communicate through the DSI interface to realize the display function of the electronic device 100.

[0075] The GPIO interface can be configured by software. The GPIO interface can be configured as a control signal or as a data signal. In an embodiment, the GPIO interface can be used to connect the processor 110 and the camera 193, the display screen 194, the wireless communication module 160, the audio module 170, the sensor module 180, etc. The GPIO interface can also be configured as an I2C interface, an I2S interface, a UART interface, a MIPI interface, etc.

[0076] The USB interface 130 is an interface that meets the USB standard specification, and can be a Mini USB interface, a Micro USB interface, a USB Type C interface, etc. The USB interface 130 can be used to connect a charger to charge the electronic device 100, or to transmit data between the electronic device 100 and a peripheral device. It can also be used to connect a headset to play audio through the headset. The interface can also be used to connect other electronic devices, such as AR devices, etc.

[0077] It can be understood that the interface connection relationship between the modules shown in the embodiments of the present application is only illustrative and does not constitute a structural limitation of the electronic device 100. In other embodiments of the present application, the electronic device 100 can also use different interface connection methods or combinations of multiple interface connection methods in the above embodiments.

[0078] The charging management module 140 is configured to receive charging input from a charger. The charger can be a wireless charger or a wired charger. In some embodiments with wired charging, the charging management module 140 can receive charging input from a wired charger through the USB interface 130. In some embodiments with wireless charging, the charging management module 140 can receive wireless charging input through a wireless charging coil of the electronic device 100. The charging management module 140 can supply power to the electronic device while charging the battery 142.

[0079] The power management module 141 is configured to connect the battery 142, the charging management module 140, and the processor 110. The power management module 141 receives input from the battery 142 and / or the charging management module 140 to supply power to the processor 110, the internal memory 121, the display 194, the camera 193, and the wireless communication module 160. The power management module 141 can also be configured to monitor parameters such as battery capacity, battery cycle count, battery health status (leakage, impedance), and the like. In some other embodiments, the power management module 141 can also be disposed in the processor 110. In some other embodiments, the power management module 141 and the charging management module 140 can also be disposed in the same device.

[0080] The wireless communication function of the electronic device 100 can be implemented through the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, the modem processor, and the baseband processor, and the like.

[0081] The antenna 1 and the antenna 2 are configured to transmit and receive electromagnetic wave signals. Each antenna in the electronic device 100 can be configured to cover a single or multiple communication frequency bands. Different antennas can also be multiplexed to improve the utilization of the antennas. For example, the antenna 1 can be multiplexed as a diversity antenna for a wireless local area network. In some other embodiments, the antennas can be used in combination with a tuning switch.

[0082] The mobile communication module 150 can provide a solution for wireless communication including 2G / 3G / 4G / 5G, etc. applied to the electronic device 100. The mobile communication module 150 can include at least one filter, a switch, a power amplifier, a low noise amplifier (LNA), etc. The mobile communication module 150 can receive electromagnetic waves by the antenna 1, and perform filtering, amplification, etc. on the received electromagnetic waves, and transfer to the modem processor for demodulation. The mobile communication module 150 can also amplify the signal modulated by the modem processor, and radiate as electromagnetic waves through the antenna 1. In an embodiment, at least part of the functional modules of the mobile communication module 150 can be disposed in the processor 110. In an embodiment, at least part of the functional modules of the mobile communication module 150 can be disposed in the same device as at least part of the modules of the processor 110.

[0083] The modem processor can include a modulator and a demodulator. The modulator is configured to modulate a low-frequency baseband signal to be transmitted into a medium-high frequency signal. The demodulator is configured to demodulate a received electromagnetic wave signal into a low-frequency baseband signal. The demodulator then transmits the demodulated low-frequency baseband signal to the baseband processor for processing. The low-frequency baseband signal processed by the baseband processor is transmitted to the application processor. The application processor outputs a sound signal through an audio device (not limited to the speaker 170A, the microphone 170B, etc.), or displays an image or a video through the display screen 194. In an embodiment, the modem processor can be a separate device. In other embodiments, the modem processor can be independent of the processor 110, and disposed in the same device as the mobile communication module 150 or other functional modules.

[0084] The wireless communication module 160 can provide a solution for wireless communication including wireless local area networks (WLAN) (e.g., wireless fidelity (Wi-Fi) network), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared (IR) technology, etc. applied to the electronic device 100. The wireless communication module 160 can be one or more devices that integrate at least one communication processing module. The wireless communication module 160 receives an electromagnetic wave via the antenna 2, frequency-modulates and filters the electromagnetic wave signal, and transmits the processed signal to the processor 110. The wireless communication module 160 can also receive a signal to be transmitted from the processor 110, frequency-modulate it, amplify it, and radiate it as an electromagnetic wave via the antenna 2.

[0085] In one embodiment, the antenna 1 and the mobile communication module 150 of the electronic device 100 are coupled, and the antenna 2 and the wireless communication module 160 are coupled, so that the electronic device 100 can communicate with a network and other devices through wireless communication technology. The wireless communication technology can include global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), time-division code division multiple access (TD-SCDMA), long term evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technology, etc. The GNSS can include a global positioning system (GPS), a global navigation satellite system (GLONASS), a beidou navigation satellite system (BDS), a quasi-zenith satellite system (QZSS), and / or a satellite based augmentation systems (SBAS).

[0086] The electronic device 100 implements a display function through a GPU, a display screen 194, and an application processor, etc. The GPU is a microprocessor for image processing, which is connected to the display screen 194 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The processor 110 can include one or more GPUs, which execute program instructions to generate or change display information.

[0087] The display screen 194 is configured to display images, videos, and the like. The display screen 194 includes a display panel. The display panel can be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED), a flex light-emitting diode (FLED), a Miniled, a MicroLed, a Micro-oLed, a quantum dot light emitting diodes (QLED), or the like. In an embodiment, the electronic device 100 can include one or N display screens 194, where N is a positive integer greater than 1.

[0088] The electronic device 100 can implement the photographing function through the ISP, the camera 193, the video codec, the GPU, the display screen 194, and the application processor.

[0089] The ISP is configured to process the data fed back by the camera 193. For example, when taking a photo, the shutter is opened, the light is transmitted to the camera photosensitive element through the lens, the light signal is converted into an electrical signal, and the camera photosensitive element transmits the electrical signal to the ISP for processing to convert it into an image visible to the naked eye. The ISP can also optimize the noise, brightness, and color of the image. The ISP can also optimize the exposure, color temperature, and other parameters of the shooting scene. In an embodiment, the ISP can be disposed in the camera 193.

[0090] The camera 193 is configured to capture still images or videos. An object generates an optical image through a lens and projects it onto a photosensitive element. The photosensitive element can be a charge coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The photosensitive element converts the light signal into an electrical signal, which is then transmitted to the ISP to convert it into a digital image signal. The ISP outputs the digital image signal to the DSP for processing. The DSP converts the digital image signal into an image signal in a standard RGB, YUV, or the like format. In an embodiment, the electronic device 100 can include one or N cameras 193, where N is a positive integer greater than 1.

[0091] The digital signal processor is used to process digital signals, in addition to being able to process digital image signals, it can also process other digital signals. For example, when the electronic device 100 selects a frequency point, the digital signal processor is used to perform Fourier transform on the frequency point energy, etc.

[0092] The video codec is used to compress or decompress digital video. The electronic device 100 can support one or more video codecs. In this way, the electronic device 100 can play or record videos in multiple encoding formats, such as: moving picture experts group (MPEG) 1, MPEG 2, MPEG 3, MPEG 4, etc.

[0093] The NPU is a neural-network (NN) calculation processor, which can quickly process input information by drawing on the structure of a biological neural network, such as drawing on the transmission mode between human brain neurons, and can also constantly self-learn. Through the NPU, the electronic device 100 can realize intelligent cognition applications, such as: image recognition, face recognition, voice recognition, text understanding, etc.

[0094] The external memory interface 120 can be used to connect an external memory card, such as a Micro SD card, to expand the storage capacity of the electronic device 100. The external memory card communicates with the processor 110 through the external memory interface 120 to realize data storage functions. For example, music, video, etc. Files are saved in the external memory card.

[0095] The internal memory 121 can be used to store computer executable program codes, which include instructions. The internal memory 121 can include a program storage area and a data storage area. The program storage area can store an operating system, at least one application program required by a function (such as a sound playing function, an image playing function, etc.), etc. The data storage area can store data created during the use of the electronic device 100 (such as audio data, a phonebook, etc.), etc. In addition, the internal memory 121 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, a universal flash storage (UFS), etc. The processor 110 executes various function applications and data processing of the electronic device 100 by running instructions stored in the internal memory 121 and / or instructions stored in the memory disposed in the processor.

[0096] The electronic device 100 can realize audio functions through the audio module 170, the speaker 170A, the receiver 170B, the microphone 170C, the earphone interface 170D, and the application processor, etc.

[0097] The audio module 170 is configured to convert digital audio information into an analog audio signal output, and to convert an analog audio input into a digital audio signal. The audio module 170 can also be configured to encode and decode audio signals. In an embodiment, the audio module 170 can be disposed in the processor 110, or some of the functional modules of the audio module 170 can be disposed in the processor 110.

[0098] The speaker 170A, also referred to as a "loudspeaker", is configured to convert an audio electrical signal into a sound signal. The electronic device 100 can listen to music or listen to a hands-free call through the speaker 170A.

[0099] The receiver 170B, also referred to as a "earpiece", is configured to convert an audio electrical signal into a sound signal. When the electronic device 100 receives a call or a voice message, the user can listen to the voice by holding the receiver 170B close to the ear.

[0100] The microphone 170C, also referred to as a "microphone", "voice microphone", is configured to convert a sound signal into an electrical signal. When making a call or sending a voice message, the user can speak into the microphone 170C by holding the mouth close to the microphone 170C, and input the sound signal into the microphone 170C. The electronic device 100 can be provided with at least one microphone 170C. In other embodiments, the electronic device 100 can be provided with two microphones 170C, in addition to collecting sound signals, the noise reduction function can also be realized. In other embodiments, the electronic device 100 can also be provided with three, four or more microphones 170C, in addition to collecting sound signals, noise reduction, it can also identify the source of the sound, realize the function of directional recording, etc.

[0101] The earphone interface 170D is configured to connect a wired earphone. The earphone interface 170D can be a USB interface 130, or a 3.5mm open mobile terminal platform (OMTP) standard interface, a cellular telecommunications industry association of the USA (CTIA) standard interface.

[0102] The pressure sensor 180A is configured to sense a pressure signal and convert the pressure signal into an electrical signal. In an embodiment, the pressure sensor 180A can be disposed on the display 194. The pressure sensor 180A can be of various types, such as a resistive pressure sensor, an inductive pressure sensor, a capacitive pressure sensor, etc. The capacitive pressure sensor can include at least two parallel plates of conductive material. When a force is applied to the pressure sensor 180A, the capacitance between the electrodes changes. The electronic device 100 determines the intensity of the pressure based on the change in capacitance. When a touch operation is applied to the display 194, the electronic device 100 detects the intensity of the touch operation based on the pressure sensor 180A. The electronic device 100 can also calculate the position of the touch based on the detection signal of the pressure sensor 180A. In an embodiment, touch operations applied to the same touch position but with different touch operation intensities can correspond to different operation instructions. For example, when a touch operation with a touch operation intensity less than a first pressure threshold is applied to a short message application icon, an instruction to view a short message is executed. When a touch operation with a touch operation intensity greater than or equal to the first pressure threshold is applied to the short message application icon, an instruction to create a new short message is executed.

[0103] The gyro sensor 180B can be configured to determine the motion posture of the electronic device 100. In an embodiment, the angular velocity of the electronic device 100 around three axes (i.e., x, y, and z axes) can be determined by the gyro sensor 180B. The gyro sensor 180B can be used for anti-shake photography. For example, when a shutter is pressed, the gyro sensor 180B detects the angle of shaking of the electronic device 100, calculates the distance that the lens module needs to compensate based on the angle, and lets the lens offset the shaking of the electronic device 100 by reverse movement to achieve anti-shake. The gyro sensor 180B can also be used for navigation and motion sensing game scenarios.

[0104] The barometric sensor 180C is configured to measure air pressure. In an embodiment, the electronic device 100 calculates the altitude based on the air pressure value measured by the barometric sensor 180C, and assists in positioning and navigation.

[0105] The magnetic sensor 180D includes a Hall sensor. The electronic device 100 can detect the opening and closing of a flip cover by using the magnetic sensor 180D. In an embodiment, when the electronic device 100 is a flip phone, the electronic device 100 can detect the opening and closing of the flip cover based on the magnetic sensor 180D. Further, based on the detected opening and closing state of the cover or the flip cover, the electronic device 100 can set a feature such as automatic unlocking of the flip cover.

[0106] The acceleration sensor 180E can detect the magnitude of acceleration of the electronic device 100 in various directions (typically, three axes). When the electronic device 100 is stationary, the acceleration sensor 180E can detect the magnitude and direction of gravity. The acceleration sensor 180E can also be used to identify the posture of the electronic device, and can be applied to switching between landscape and portrait modes, a pedometer, etc.

[0107] Distance sensor 180F is configured to measure distance. Electronic device 100 can measure distance by infrared or laser. In one embodiment, electronic device 100 can measure distance by distance sensor 180F to achieve fast focus when taking a picture.

[0108] Proximity light sensor 180G can include, for example, a light emitting diode (LED) and a light detector, such as a photodiode. The light emitting diode can be an infrared light emitting diode. Electronic device 100 emits infrared light outwardly through the light emitting diode. Electronic device 100 detects infrared reflected light from nearby objects using the photodiode. When sufficient reflected light is detected, it can be determined that there is an object near electronic device 100. When insufficient reflected light is detected, electronic device 100 can determine that there is no object near electronic device 100. Electronic device 100 can use proximity light sensor 180G to detect when a user is holding electronic device 100 close to their ear for a phone call, so that the screen can be automatically turned off to save power. Proximity light sensor 180G can also be used for automatic unlocking and locking of the screen in a holster mode or a pocket mode.

[0109] Ambient light sensor 180L is configured to sense ambient light brightness. Electronic device 100 can adaptively adjust the brightness of display 194 based on the sensed ambient light brightness. Ambient light sensor 180L can also be used to automatically adjust white balance when taking a picture. Ambient light sensor 180L can also work with proximity light sensor 180G to detect whether electronic device 100 is in a pocket to prevent accidental touch.

[0110] Fingerprint sensor 180H is configured to capture a fingerprint. Electronic device 100 can use the captured fingerprint characteristics to implement fingerprint unlocking, access application lock, fingerprint picture taking, fingerprint call answering, and the like.

[0111] Temperature sensor 180J is configured to detect temperature. In one embodiment, electronic device 100 uses the temperature detected by temperature sensor 180J to implement temperature handling strategies. For example, when the temperature reported by temperature sensor 180J exceeds a threshold, electronic device 100 reduces the performance of a processor located near temperature sensor 180J to reduce power consumption and implement thermal protection. In other embodiments, when the temperature is below another threshold, electronic device 100 heats battery 142 to avoid abnormal shutdown of electronic device 100 caused by low temperature. In other embodiments, when the temperature is below yet another threshold, electronic device 100 boosts the output voltage of battery 142 to avoid abnormal shutdown caused by low temperature.

[0112] Touch sensor 180K, also referred to as "touch device". Touch sensor 180K can be disposed on display screen 194, and touch sensor 180K and display screen 194 form a touch screen, also referred to as "touch panel". Touch sensor 180K is configured to detect touch operations applied to or near the touch sensor 180K. The touch sensor can transmit the detected touch operation to the application processor to determine the touch event type. Visual output related to the touch operation can be provided through display screen 194. In other embodiments, touch sensor 180K can also be disposed on the surface of electronic device 100, which is different from the position of display screen 194.

[0113] Bone conduction sensor 180M can obtain vibration signals. In an embodiment, bone conduction sensor 180M can obtain vibration signals of the human body's vocal part vibration bone block. Bone conduction sensor 180M can also contact the human body pulse to receive blood pressure pulsation signals. In an embodiment, bone conduction sensor 180M can also be disposed in a headset to form a bone conduction headset. Audio module 170 can analyze voice signals based on the vibration signals of the vocal part vibration bone block obtained by bone conduction sensor 180M to realize voice functions. The application processor can analyze heart rate information based on the blood pressure pulsation signals obtained by bone conduction sensor 180M to realize heart rate detection functions.

[0114] Keys 190 include power on / off keys, volume keys, and the like. Keys 190 can be mechanical keys. They can also be touch keys. Electronic device 100 can receive key input and generate key signal input related to user settings and function control of electronic device 100.

[0115] Motor 191 can generate vibration prompts. Motor 191 can be used for incoming call vibration prompts and also for touch vibration feedback. For example, touch operations applied to different applications (such as taking pictures, playing audio, and the like) can correspond to different vibration feedback effects. Touch operations applied to different regions of display screen 194 can also correspond to different vibration feedback effects. Different application scenarios (such as time reminders, received messages, alarms, games, and the like) can also correspond to different vibration feedback effects. Touch vibration feedback effects can also be customizable.

[0116] Indicator 192 can be an indicator light, which can be used to indicate charging status, power changes, and also to indicate messages, missed calls, notifications, and the like.

[0117] The SIM card interface 195 is configured to connect a SIM card. The SIM card can be inserted into or removed from the SIM card interface 195 to achieve contact and separation with the electronic device 100. The electronic device 100 can support one or N SIM card interfaces, where N is a positive integer greater than 1. The SIM card interface 195 can support Nano SIM cards, Micro SIM cards, SIM cards, and the like. Multiple cards can be inserted into the same SIM card interface 195 at the same time. The types of the multiple cards can be the same or different. The SIM card interface 195 can be compatible with different types of SIM cards. The SIM card interface 195 can also be compatible with external storage cards. The electronic device 100 interacts with a network through the SIM card to achieve functions such as calling and data communication. In an embodiment, the electronic device 100 uses an eSIM, i.e., an embedded SIM card. The eSIM card can be embedded in the electronic device 100 and cannot be separated from the electronic device 100.

[0118] The software system of the electronic device 100 can use a layered architecture, an event-driven architecture, a microkernel architecture, a microservice architecture, or a cloud architecture. For example, the software system with a layered architecture can be an Android system, a harmony operating system (OS), or other software systems. Embodiments of the present application exemplarily illustrate the software structure of the electronic device 100 by taking the Android system with a layered architecture as an example.

[0119] Figure 2 An example is shown in a schematic diagram of a software architecture of an electronic device 100.

[0120] The layered architecture divides software into several layers, each of which has a clear role and division of labor. Layers communicate with each other through software interfaces. In an embodiment, the Android system is divided into four layers, from top to bottom, an application layer, an application framework layer, an Android runtime and system library, and a kernel layer.

[0121] The application layer can include a series of application packages.

[0122] As shown in Figure 2 The application packages can include camera, gallery, music, calendar, short message, call, navigation, Bluetooth, browser, screen projection, and the like.

[0123] The application framework layer provides application programming interfaces (APIs) and programming frameworks for the applications of the application layer. The application framework layer includes some pre-defined functions.

[0124] AsFigure 2 As shown, the application framework layer can include a window manager, a content provider, a view system, a phone manager, a resource manager, a notification manager, etc.

[0125] The window manager is used to manage windows. The window manager can acquire the size of the display screen, determine whether there is a status bar, lock the screen, and take screenshots, etc.

[0126] The content provider is used to store and acquire data, and make the data accessible to applications. The data can include videos, images, audios, dialed and received calls, browsing history and bookmarks, phone books, etc.

[0127] The view system includes visual controls, such as controls for displaying text, controls for displaying pictures, etc. The view system can be used to build applications. A display interface can be composed of one or more views. For example, a display interface including a short message notification icon can include a view for displaying text and a view for displaying pictures.

[0128] The phone manager is used to provide the communication function of the electronic device 100. For example, the management of call status (including call connection, call hang-up, etc.).

[0129] The resource manager provides various resources for applications, such as localized strings, icons, pictures, layout files, video files, etc.

[0130] The notification manager enables applications to display notification information in the status bar, which can be used to convey messages of the notification type, which can automatically disappear after a short stay without user interaction. For example, the notification manager is used to notify the completion of downloading, message reminders, etc. The notification manager can also be a notification in the form of a chart or a scroll bar text appearing in the top status bar of the system, such as a notification of an application running in the background, or a notification in the form of a dialog window appearing on the screen. For example, prompting text information in the status bar, issuing a prompt sound, the electronic device vibrating, the indicator light flashing, etc.

[0131] The Android runtime includes a core library and a virtual machine. The Android runtime is responsible for the scheduling and management of the Android system.

[0132] The core library includes two parts: one part is the function function called by the java language, and the other part is the core library of Android.

[0133] The application layer and the application framework layer run in the virtual machine. The virtual machine executes the java files of the application layer and the application framework layer into binary files. The virtual machine is used to perform the management of object life cycle, stack management, thread management, security and exception management, and garbage collection, etc.

[0134] The system library can include a plurality of functional modules. For example, a surface manager, media libraries, a three-dimensional graphics processing library (e.g., OpenGL ES), a 2D graphics engine (e.g., SGL), etc.

[0135] The surface manager is used to manage the display subsystem and provides a plurality of applications with fusion of 2D and 3D layers.

[0136] The media libraries support a plurality of commonly used audio, video format playback and recording, and static image files, etc. The media libraries can support a plurality of audio and video encoding formats, such as MPEG4, H.264, MP3, AAC, AMR, JPG, PNG, etc.

[0137] The three-dimensional graphics processing library is used to implement three-dimensional graphics drawing, image rendering, synthesis, and layer processing, etc.

[0138] The 2D graphics engine is a drawing engine for 2D drawing.

[0139] The kernel layer is a layer between hardware and software. The kernel layer at least includes a display driver, a camera driver, an audio driver, and a sensor driver.

[0140] The working flow of the software and hardware of the electronic device 100 is exemplarily explained below in combination with an automatic driving scenario of a navigation application.

[0141] When the touch sensor 180K receives a touch operation, a corresponding hardware interrupt is sent to the kernel layer. The kernel layer processes the touch operation into a raw input event (including touch coordinates, a timestamp of the touch operation, etc.). The raw input event is stored in the kernel layer. The application framework layer obtains the raw input event from the kernel layer and identifies the control corresponding to the input event. Taking the touch operation as a touch single-click operation and the control corresponding to the single-click operation as a control of the navigation application as an example, the navigation application calls an interface of the application framework layer and then controls the display driver through the kernel layer to display the main interface of the navigation application through the display screen 194.

[0142] Figure 3 An example structure schematic diagram of an electronic device 100 is exemplarily shown.

[0143] As Figure 3As shown, the electronic device 100 can include a physical unit 101 and a functional unit 102, the physical unit 101 can include a sensor 1011, an on-board computer 1012, a central control display screen 1013, the functional unit 102 can include a multi-sensor fusion (MSF) positioning algorithm module 1021, an identification suppression algorithm module 1022, a global navigation satellite system (GNSS) interference detection module 1023, optionally, the on-board computer 1012 can include at least one module in the functional unit 102, wherein:

[0144] The sensor 1011 can include but is not limited to a GNSS receiver, an IMU, an antenna, a laser radar, a camera, etc., and can be used to obtain a plurality of observations of the electronic device 100, such as the position of the electronic device 100 measured by the GNSS receiver, the acceleration and angular velocity of the electronic device 100 measured by the IMU, the distance measured by the laser radar, etc. The on-board computer 1012 can be used to receive a plurality of observations measured by the sensor 1011, and send the obtained plurality of observations to the MSF positioning algorithm module 1021, the identification suppression algorithm module 1022, and the GNSS interference detection module 1023. The MSF positioning algorithm module 1021 can obtain first state information of the electronic device 100 according to the plurality of observations sent by the on-board computer 1012, which includes but is not limited to position, attitude, velocity, time, etc. In some examples, the MSF positioning algorithm module 1021 can estimate the first state information of the electronic device 100 at time k according to the plurality of observations at time k (also referred to as the estimated value of the first state information at time k). The MSF positioning algorithm module 1021 can send the first state information to the on-board computer 1012, and the on-board computer 1012 can estimate the first real-time position of the electronic device 100 at time k according to the first state information. Optionally, the on-board computer 1012 can match the first real-time position with a high-precision map to determine the first lane information of the electronic device 100. The on-board computer 1012 can send the first real-time position and optionally the first lane information of the electronic device 100 to the central control display screen 1013, and the central control display screen 1013 can be used to display the first real-time position and optionally the first lane information of the electronic device 100 during navigation.

[0145] The identification suppression algorithm module 1022 can obtain second state information of the electronic device 100 according to the plurality of observation quantities / observation values sent by the vehicle-mounted computer 1012, and the second state information includes, for example but is not limited to, position, attitude, speed, time and the like. In some examples, the identification suppression algorithm module 1022 can estimate the second state information of the electronic device 100 at the k moment according to the plurality of observation quantities / observation values at the k moment, and it can be understood that the first state information and the second state information can be estimated values obtained by using different algorithms for the plurality of observation values at the same moment (k). The identification suppression algorithm module 1022 can send the second state information to the vehicle-mounted computer 1012, and the vehicle-mounted computer 1012 can estimate the second real-time position of the electronic device 100 at the k moment according to the second state information. Optionally, the vehicle-mounted computer 1012 can match the second real-time position with the high-precision map to determine the second lane information on which the electronic device 100 travels.

[0146] The identification suppression algorithm module 1022 can send the second state information to the GNSS interference detection module 1023, and the GNSS interference detection module 1023 can detect whether the electronic device 100 is currently subjected to GNSS interference according to the second state information and the plurality of observation quantities / observation values sent by the vehicle-mounted computer 1012. When the GNSS interference is detected, the GNSS interference detection module 1023 can send alarm information to the vehicle-mounted computer 1012, and the vehicle-mounted computer 1012 can display the alarm information on the central control display screen 1013 to prompt the user that the electronic device 100 is currently subjected to GNSS interference. When the GNSS interference ends, the GNSS interference detection module 1023 can send alarm end information to the vehicle-mounted computer 1012, and the vehicle-mounted computer 1012 can display the alarm end information on the central control display screen 1013 to prompt the user that the GNSS interference ends. Optionally, during the GNSS interference, the vehicle-mounted computer 1012 can display the second real-time position of the electronic device 100 in the navigation process and the second lane information on the central control display screen 1013.

[0147] It can be understood that, Figure 3 It can be understood that,

[0148] The application embodiments relate to an application scenario and a user interface diagram in the scenario.

[0149] Please refer to Figure 4 , Figure 4 An exemplary user interface diagram of automatic driving navigation is shown.

[0150] As shown in (A) of Figure 4 , the electronic device 100 can display a user interface 410 of a navigation application. The user interface 410 includes a search box 411 and a search box 412, the search box 411 can be used to input a starting point of a navigation route, and the search box 412 can be used to input a terminal point of the navigation route. The user interface 410 further includes a map 413, the map 413 displays a position identifier 413A, a position identifier 413B and a route 413C, the position identifier 413A is used to identify the position of the starting point in the map 413, and the starting point is the position input in the search box 411. The position identifier 413B is used to identify the position of the terminal point in the map 413, and the terminal point is the position input in the search box 412. The route 413C is used to represent the route information from the starting point to the terminal point. The user interface 410 further includes navigation information 414, the navigation information 414 can include a plurality of route information from the starting point to the terminal point, for example, including the route information of “recommended” and the route information of other schemes, the route information of “recommended” displays the character “32 minutes·11 kilometers”, which can represent the time and route distance required by the recommended route, wherein the route information of “recommended” has been selected, and corresponds to the route 413C. The navigation information 414 can further include a control 414A, the control 414A displays the character “start navigation”, and can be used to trigger a navigation interface displaying the above selected route information. In an embodiment, the electronic device 100 can automatically drive according to the selected route information in response to a user operation (for example, the user operation is a touch operation) on the control 414A, and display a user interface of automatic driving navigation (also referred to as navigation in automatic driving mode), which can be specifically referred to Figure 4 (B) of the user interface 420 shown in

[0151] As shown in (A) of Figure 4As shown in (B) of FIG. 4, the user interface 420 can include an autonomous driving navigation interface 421 and navigation information 422. The autonomous driving navigation interface 421 can display a plurality of lanes, such as lane 421A, lane 421B, and lane 421C. The autonomous driving navigation interface 421 can further include a position identifier 421D and a navigation route 421E. The position identifier 421D can identify the position of the electronic device 100 on the map, and can specifically identify the lane in which the electronic device 100 is located (for example, the electronic device 100 is currently in lane 421B). The navigation route 421E can represent the current autonomous driving route of the electronic device 100. The navigation information 422 can include driving prompt information, road information, distance and time information, the driving prompt information can indicate the driving of the electronic device 100 (for example, “please keep straight”), the road information can indicate the road information in the driving process of the electronic device 100 (for example, “2 kilometers into Taizilu North Road”), and the distance and time information can indicate the distance from the end point of the electronic device 100 (for example, “11 kilometers”), the remaining driving time (for example, “32 minutes”), and the estimated time of arrival at the end point (for example, “estimated to arrive at 8:32”).

[0152] In an embodiment, after the implementation shown in (B) of FIG. 4, if the electronic device 100 is currently in a first preset condition, for example, the electronic device 100 is interfered by GNSS, and the electronic device 100 is not in a safety navigation mode, the navigation route and the navigation information of the electronic device 100 are changed. At this time, the electronic device 100 can display a navigation interface after being interfered by GNSS, which can be specifically seen from the user interface 430 shown in (C) of FIG. 4. Figure 4 Figure 4

[0153] As shown in (C) of FIG. 4, the user interface 430 can include a position identifier 431A, a navigation route 431B, and navigation information 432. The position identifier 431A can identify the position of the electronic device 100 on the map, and the navigation route 431B can represent the changed navigation route. Assuming that the electronic device 100 is at the position identified by the position identifier 431A, the electronic device 100 is interfered by GNSS. At this time, the navigation route of the electronic device 100 is changed from the original navigation route (for example, the route of keeping straight in lane 421B) to the navigation route 431B. Specifically, the lane in which the electronic device 100 drives can be changed, for example, the electronic device 100 is switched from lane 421B to lane 421A. The driving prompt information included in the navigation information 432 is “lane will be switched soon”, which indicates that the driving lane 421B of the electronic device 100 is changed to lane 421A. Figure 4 In an embodiment, after the implementation shown in (B) of FIG. 4, if the electronic device 100 is currently in a first preset condition, for example, the electronic device 100 is interfered by GNSS, and the electronic device 100 is not in a safety navigation mode, the navigation route and the navigation information of the electronic device 100 are changed. At this time, the electronic device 100 can display a navigation interface after being interfered by GNSS, which can be specifically seen from the user interface 430 shown in (C) of FIG. 4.

[0154] Figure 4 ​​​Following the implementation shown in (C), the electronic device 100 can display the modified navigation route (e.g., Figure 4 The navigation route 431B) shown in the user interface 430 (C) is the interface for driving. When the electronic device 100 detects that it is currently in the first preset state, the electronic device 100 can display an alarm user interface to prompt the user to activate the safe navigation mode. For details, please refer to [link to relevant documentation]. Figure 5 User interface 440 is shown in (A).

[0155] like Figure 5 As shown in (A), the user interface 440 and Figure 4 Similar to the user interface 430 shown in (C), the difference is that the location marker 441A in the user interface 440 can indicate that the electronic device 100 is currently at the boundary between lanes 421A and 421B, rather than in the previous lane 421B. The location marked by the location marker 441A can be the false location of the electronic device 100 on the map when it is subject to GNSS interference. The navigation information 442 and navigation route 431B in the user interface 440 can indicate that the electronic device 100 is traveling according to the navigation route 431B, for example, from the location indicated by the location marker 431A on the map to the location indicated by the location marker 441A. However, the actual travel route of the electronic device 100 at this time is the original navigation route mentioned above (for example, the route that remains straight in lane 421B). Specifically, it can be that the electronic device 100 travels from the location indicated by the location marker 431A to the location indicated by the location marker 441B (not displayed in the user interface 440). The location marked by the location marker 441B can be the actual location of the electronic device 100 on the map when it is subject to GNSS interference. The user interface 440 may also include a window 443, which may include prompt information (such as the characters "There is a problem with the current navigation location" or "Please confirm whether to enable safe navigation mode"), controls 443A and 443B, control 443A can be used to enable safe navigation mode, and control 443B can be used to refuse to enable safe navigation mode.

[0156] In one implementation, after the electronic device 100 activates the safe navigation mode, it can reposition its location, update the navigation route, and automatically drive according to the updated route. For example, the electronic device 100 can respond to... Figure 5 The user operation (e.g., the user operation is a touch operation) of the control 443A in the user interface 440 shown in (A) displays as follows: Figure 5 The user interface 450 shown in (B) is as follows. Figure 5(B) shows, the user interface 450 can include a prompt information 451 displaying a character "Switched to safe navigation mode", "Repositioning", and a control 452, which can represent that the electronic device 100 has started the safe navigation mode (e.g. switched from the automatic driving mode to the safe navigation mode) and repositioned the position of the electronic device 100 on the map. The user interface after the electronic device 100 repositions and updates the navigation route is, for example, the user interface 460 shown in (C) of FIG. 4. Figure 5 Figure 5 (C) shows, the user interface 460 and Figure 5 (B) shows, the user interface 450. The difference between the user interface 460 and the user interface 450 is that the navigation route 461B in the user interface 460 can represent the updated navigation route of the electronic device 100 in the safe navigation mode, for example, the navigation route is updated from: the electronic device 100 switches from the lane 421B to the lane 421A and keeps driving in the lane 421A, to: the electronic device 100 switches from the lane 421A to the lane 421B and keeps driving in the lane 421B, which can represent the planned route of the electronic device 100 on the real driving road. The position marker 461A in the user interface 460 can mark the position of the electronic device 100 after repositioning, which can represent the position of the electronic device 100 on the real driving road.

[0157] In an implementation, if the electronic device 100 detects that the second preset condition is currently met, for example, the GNSS interference on the electronic device 100 ends, the electronic device 100 can display a user interface for ending the warning to prompt the user to start the automatic driving mode, which can be seen in the user interface 470 shown in (A) of FIG. 4. Figure 6

[0158] (A) shows, the user interface 470 and Figure 6 (C) shows, the user interface. The difference between the user interface 470 and the user interface is that the user interface 470 further includes a window 471, which can include a prompt information (e.g. including a character "Current navigation positioning has been restored", "Please confirm whether to start the automatic driving mode"), a control 471A and a control 471B, the control 471A can be used to start the automatic driving mode, and the control 471B can be used to refuse to start the automatic driving mode. Figure 5

[0159] In an implementation, the electronic device 100 can display a user interface for automatic driving navigation in response to a user operation (e.g. a touch operation) on the control 471A, which can be seen in the user interface 480 shown in (B) of FIG. 4. Figure 6 Figure 6 (B) shows, the user interface 480 and​​​​Figure 4 The user interface 420 shown in (B) is similar to the user interface 420 shown in (A), except that the navigation information 481 in the user interface 420 shown in (B) is different from the navigation information 422 in the user interface 420 shown in (A), the position of the electronic device 100 on the map in the user interface 420 shown in (B), and the automatic driving route of the electronic device 100 at present in the user interface 420 shown in (B) are different from those in the user interface 420 shown in (A).

[0160] Without being limited to the above-described embodiments, in another embodiment, the user can set the permission of the navigation application, for example, allow the navigation application to automatically start the safety navigation mode, through the system setting function of the electronic device 100, or through the setting function of the navigation application, and the like. For details, please refer to the embodiment shown in (C) of FIG. 4. Figure 6 The user interface 490 shown in (C) can include a setting name 491 and a control 492. The setting name 491 displays the character “safety navigation mode”, and the control 492 can be used to start or close the safety navigation mode of the electronic device 100. The control 492 in the user interface 490 is in the start state. In some examples, after the electronic device 100 starts the safety navigation mode, the electronic device 100 can provide the function of automatically starting the safety navigation mode when it is detected that the first preset condition is present at present. For details, please refer to the embodiment shown in (A) of FIG. 5. Figure 6 Figure 5

[0161] Without being limited to the above-described examples, in some other examples, when the electronic device 100 does not start the safety navigation mode in response to the user operation, the electronic device 100 can close the automatic navigation mode. For example, the electronic device 100 can close the automatic navigation mode of the electronic device 100 at present in response to the user operation (for example, the user operation is a touch operation) on the control 443B in the user interface 440 shown in (A) of FIG. 4. At this time, the electronic device 100 stops automatic driving and displays the prompt information for prompting the user to take over the electronic device 100. Figure 5

[0162] Without being limited to the above-described examples, in some other examples, when the electronic device 100 does not start the safety navigation mode in response to the user operation, the electronic device 100 can continue to automatically drive according to the updated navigation route. At this time, the electronic device 100 can display the user interface of the automatic driving in the safety navigation mode. For example, the electronic device 100 can display the user interface similar to the user interface 480 shown in (B) of FIG. 4 in response to the user operation (for example, the user operation is a touch operation) on the control 471B in the user interface 470 shown in (A) of FIG. 4. Figure 6 The user interface 480 shown in (B) is similar to the user interface 480 shown in (A), except that the navigation route and Figure 6 Figure 6 ​​​​The navigation route in the user interface 480 shown in (B) is different from the navigation route before the update, which is the updated navigation route in the safe navigation mode.

[0163] Not limited to the above example, in another example, when the electronic device 100 does not receive a user operation for turning on or off the safe navigation mode within the first preset time length, the electronic device 100 can turn on the safe navigation mode by default. For example, after the electronic device 100 displays the user interface 440 shown in (A), if no user operation (for example, a touch operation) for the control 443A or the control 443B is received within the first preset time length (for example, 10 seconds), the electronic device 100 can automatically turn on the safe navigation mode and display the user interface 450 shown in (B). Figure 5 Figure 5

[0164] Next, a navigation fault detection method provided by an embodiment of the present application is introduced.

[0165] Please refer to Figure 7 , Figure 7 is a flowchart of a navigation fault detection method provided by an embodiment of the present application. The method can be applied to the electronic device 100 shown in (A). Figure 1 The method can be applied to the electronic device 100 shown in (A). The method can include but is not limited to the following steps: Figure 3

[0166] S101: The sensor obtains first data.

[0167] In an implementation, the first data can include a plurality of observations / observation values measured by the sensor at time k, where the sensor includes but is not limited to a GNSS receiver, an IMU, an antenna, a laser radar, a camera, etc., and the plurality of observations include but are not limited to the position of the electronic device 100 measured by the GNSS receiver, the acceleration and angular velocity of the electronic device 100 measured by the IMU, the distance measured by the laser radar, etc.

[0168] In an implementation, the electronic device 100 can receive a user operation, and in response to the user operation, for example, in response to a user operation for the control 414A in the user interface 410 shown in (A), the function of automatic driving / navigation is turned on, at this time, the sensor in the electronic device 100 obtains the first data. Figure 4

[0169] S102: The sensor sends the first data to the MSF positioning algorithm module.

[0170] In an implementation, the MSF positioning algorithm can be a Kalman filter-based algorithm.

[0171] ​​​​S103: The sensor sends the first data to the identification suppression algorithm module.

[0172] S104: The sensor sends the first data to the GNSS interference detection module.

[0173] The order of any two steps in S102, S103 and S104 is not limited.

[0174] S105: The MSF positioning algorithm module obtains first state information according to the first data.

[0175] In an embodiment, the first state information is state information of the electronic device 100 at a corresponding time obtained according to the first data, the time corresponding to the first state information and the first data is the same, and the first state information includes, for example but not limited to, position, attitude, speed and other information of the electronic device 100. In some examples, the MSF positioning algorithm module can estimate the first state information at time k according to the received multiple observations at time k. It can be understood that the first state information is a state estimation value obtained by using the MSF positioning algorithm at time k.

[0176] S106: The MSF positioning algorithm module obtains first navigation information according to the first state information.

[0177] In an embodiment, the first navigation information includes, for example but not limited to, a first real-time position and first route information of the electronic device 100, wherein the first real-time position and the first route information are related, for example, the MSF positioning algorithm module can determine the first route information according to the first real-time position of the electronic device 100 at time k and the terminal position.

[0178] S107: The MSF positioning algorithm module outputs the first navigation information.

[0179] In an embodiment, after the MSF positioning algorithm module obtains the first navigation information, the MSF positioning algorithm module can output the first navigation information, for example, display the first navigation information on the display screen of the electronic device 100, for example, display the user interface 420 shown in (B) of FIG. 4. Figure 4 of FIG. 4, wherein the position identifier 421D in the user interface 420 indicates the first real-time position, and the navigation route 421E indicates the first route information.

[0180] S108: The identification suppression algorithm module obtains second state information according to the first data.

[0181] In an embodiment, the second state information is state information of the electronic device 100 at a corresponding time point obtained according to the first data, the second state information and the first data correspond to the same time point, and the second state information includes, for example but not limited to, position, attitude, speed and the like of the electronic device 100. In some examples, the identification suppression algorithm module can estimate the second state information at the kth time point according to the received multiple observations at the kth time point. It can be understood that the second state information is a state estimation value obtained by using the identification suppression algorithm at the kth time point.

[0182] In an embodiment, the identification suppression algorithm module can input the multiple observations at the kth time point into a multi-sensor fusion framework based on a factor graph, and output an optimal estimation value at the kth time point, i.e., the second state information described above. In some examples, the identification suppression algorithm module can estimate the optimal estimation value at the current time point according to the observations at the historical time points and the observations at the current time point. The historical time points can include k-1 different time points within a second preset time period before the current time point, for example, the current time point is k, and the historical time points can be 20 different time points within 20 seconds before k, wherein one second corresponds to one time point.

[0183] In an embodiment, the factor graph is a graph model, which can intuitively represent the information transmission relationship between state variables in the state space through nodes and edges (i.e., connections between nodes). It can be understood that the multi-sensor fusion framework based on the factor graph can jointly construct a maximum likelihood estimation problem with multiple observations (also referred to as measurement factors) to obtain an optimal estimation value. For examples of the factor graph, please refer to Figure 8 .

[0184] As shown in Figure 8 , the node xi is a state factor to be estimated, the node b i is a bias factor, the node f i，imu is an IMU pre-integration factor, the node f i，bias is an IMU bias factor, the node f i，2D / 3D is a two-dimensional (2D) / three-dimensional (3D) visual positioning factor, the node f i，gps is a GPS factor, and the node f prior，state is an initial state factor. The node f prior，bias is an initial bias factor, where i is a positive integer greater than or equal to 1 and less than or equal to k. Each state factor to be estimated x i is related to factors connected thereto. Taking the state factor x1 to be estimated as an example, x1 is related to f 1，imu , f 1，2D / 3D , and f prior，state , where f1，imu Related to b1, b1 is related to f 1，bias , f prior，bias .

[0185] In some examples, the factor graph model can be converted into a nonlinear problem by using maximum a posteriori probability estimation, and the specific implementation process can be referred to formulas (1), (2) and (3) as follows:

[0186] X=argmax x (П j f j (x j )) (1)

[0187]

[0188] Wherein, x j represents the jth state variable to be estimated, z j represents the jth observation, f j (x j ) represents the jth factor node, X={x1, x2,..., x k} represents the set of state variables to be estimated, h j (·) represents the measurement equation related to the jth observation z j , for example, h j (x j ) is the observation function between the state variable x j to be estimated and the observation z j , ∑ j represents the measurement variance, one j corresponds to one time, j∈[0, n], n represents the size of the sliding window, which can be understood as the number of historical time, n can be k-1. Wherein, z k is the first data at the kth time, x k is the second state information at the kth time.

[0189] Formulas (1) and (2) can be converted into a nonlinear least squares problem, and the nonlinear least squares problem can be referred to formula (3) as follows:

[0190]

[0191] Then, the optimal estimate x k (i.e. the second state information) is obtained by solving formula (3).

[0192] The multi-sensor fusion framework based on factor graph can consider the observation at the historical time, and continuously optimize the optimal solution of the nonlinear problem through repeated iteration and relinearization to obtain the optimal estimate.

[0193] Wherein, the order of S105 and S108 is not limited.

[0194] S109: The recognition suppression algorithm module obtains second navigation information according to the second state information.

[0195] In an implementation, the second navigation information includes, for example but not limited to, a second real-time position of the electronic device 100, second route information, etc., wherein the second real-time position and the second route information are related, for example, the recognition suppression algorithm module can determine the second route information according to the second real-time position of the electronic device 100 at the k moment and the terminal position.

[0196] The order of S106 and S109 is not limited, and the order of S107 and S109 is not limited.

[0197] S110: The recognition suppression algorithm module sends the second state information to the GNSS interference detection module.

[0198] The order of any two steps among S110, S105 and S108 is not limited.

[0199] S111: The GNSS interference detection module obtains second data according to the first data and the second state information, and detects whether the GNSS interference is received according to the second data.

[0200] In an implementation, the GNSS interference detection module can obtain the second data according to the first data, historical data corresponding to the first data, the second state information, and historical state information corresponding to the second state information, wherein the first data can be an observation value at the k moment, the historical data corresponding to the first data can be an observation value at a historical moment (t moment, t is a positive integer greater than or equal to 1 and less than or equal to k-1, k-1 is the number of historical moments) before the k moment, the second state information can be an estimated value at the k moment, and the historical state information corresponding to the second state information can be an estimated value at the historical moment (t moment) before the k moment. Optionally, the historical data corresponding to the first data and the historical state information corresponding to the second state information can be stored in the electronic device 100.

[0201] In an implementation, the second data can be a residual sequence composed of differences between observation values and estimated values at the same moment, for example, a set of differences between the first data at the k moment and the second state information at the k moment, and differences between the first data at the same moment (t moment) before the k moment and the second state information at the t moment. In some examples, it is assumed that the GNSS measurement model can refer to the following formulas (4) and (5):

[0202] z k = H k X k + V k + ρk (4)

[0203]

[0204] wherein, z k is the observation value at time k, H k is the discrete measurement matrix, X k is the estimation value at time k, V k is the discrete measurement noise, and p k is the discrete measurement disturbance.

[0205] According to the formula (4) and the formula (5), the residual of the GNSS measurement factor can be seen from the following formula (6):

[0206]

[0207] wherein, v k is the GNSS measurement residual at time k, and the GNSS measurement residuals in multiple sliding windows (i.e., multiple historical times) in the factor graph model are selected to form a residual sequence {v j |j=1, 2, 3,..., k}, wherein, an example of the factor graph corresponding to the GNSS residual sequence can be seen from Figure 9 . Please refer to Figure 9 , Figure 9 is a structural diagram of a factor graph corresponding to a GNSS residual sequence provided by an embodiment of the application.

[0208] As shown in Figure 9 , the node xi is a state factor to be estimated, the node f i，imu is an IMU pre-integration factor, the node f i，2D / 3D is a 2D / 3D visual positioning factor, and the node f i，gps is a GPS factor. Wherein, i is a positive integer greater than or equal to 1 and less than or equal to k, the dashed box represents the sliding window size, and the residual v i is related to the IMU pre-integration factor, the 2D / 3D visual positioning factor, and the GPS factor.

[0209] In an implementation manner, the GNSS interference detection module can analyze the second data by a first manner to obtain a first interference statistical quantity, the first manner for example but not limited to includes taking mean value, variance, expectation, etc., and compare the first interference statistical quantity with a first threshold value, when the first interference statistical quantity is greater than or equal to the first threshold value, it is determined that the GNSS interference is received, at this time, S112 is executed; when the first interference statistical quantity is less than the first threshold value, it is determined that the GNSS interference is not received, S101-S111 are executed again, at this time, the time corresponding to the obtained first data is different from the time k, accordingly, the time corresponding to the data obtained according to the first data is also different from the time k.

[0210] In some examples, the statistical test method is taken as an example of the residual sequence composed of the residual sequence of the GNSS measurement residual and the first mode of the exponentially fading sequential probability ratio. When the GNSS measurement model does not exist interference, the residual sequence should obey the normal distribution N(0,∑), at this time, the expectation and variance of the residual can be seen from the following formula (7):

[0211]

[0212] Wherein, E(v k ) represents the expectation of the residual at the k moment, represents the variance of the residual at the k moment.

[0213] When the GNSS measurement model exists interference, the expectation and variance of the residual can be seen from the following formula (8):

[0214]

[0215] According to the formula (7) and the formula (8), the following hypothesis test is proposed: H0: ρ=0, the GNSS measurement model is normal; H1: ρ≠0, the GNSS measurement model exists interference, the probability density of the residual sample under the two probability hypotheses can be seen from the following formula (9) and (10):

[0216]

[0217]

[0218] Wherein,

[0219] According to the probability density of the two hypotheses of the formula (9) and the formula (10), the likelihood probability ratio under the two hypotheses can be calculated and seen from the following formula (11):

[0220]

[0221] Then, the logarithm of L k is solved, and the first interference statistical quantity of the sequential probability ratio under the optimization of the factor graph model is obtained, and can be seen from the following formula (12):

[0222]

[0223] Wherein, the change rate of the first interference statistical quantity at each moment can be seen from the following formula (13):

[0224]

[0225] Therefore, the first interference statistical quantity of the sequential probability ratio can also be represented by an iterative form, and can be seen from the following formula (14):

[0226] λ k = λ k-1 + Δλ k (14)

[0227] wherein the residual mean value at the k-th moment can be seen from the following formula (15):

[0228]

[0229] wherein, represents a fading weighting factor.

[0230] It can be seen from the formula (15) that the introduction of the fading weighting factor can increase the weight of the residual v k at the k-th moment and reduce the weight of the residual mean value at the historical moment. It can be understood that when the GNSS interference occurs at the k-th moment, the weight of the residual at the k-th moment in the residual mean value is enhanced, and the weight of the residual at the historical moment in the residual mean value is reduced, so as to enhance the change rate of the residual mean value when the GNSS interference occurs, so that the residual mean value is more sensitive to the starting moment of the GNSS interference, thereby determining the moment when the GNSS interference occurs. That is, by analyzing the residual sequence, if the change amount of the residual mean value at the current moment is greater than or equal to the first threshold value, it is determined that the current moment starts to be interfered by the GNSS, wherein the first interference statistical quantity can indicate the residual mean value.

[0231] In an implementation, when the electronic device 100 starts to be interfered by the GNSS, the first real-time position in the first navigation information estimated by the MSF positioning algorithm module cannot represent the real-time position of the electronic device 100 in the navigation process, therefore, the navigation route information of the electronic device 100 will change. In some examples, the user interface of the electronic device 100 in the automatic driving process is, for example, the user interface 420 shown in (B) of FIG. 4, and the user interface when the electronic device 100 starts to be interfered by the GNSS is, for example, the user interface 430 shown in (C) of FIG. 4. Figure 4 Figure 4

[0232] ​​In an embodiment, when the electronic device 100 opens the function of automatic driving / navigation, the GNSS interference detection module can be automatically opened to open the GNSS interference identification and suppression detection function. For example, the electronic device 100 can receive a user operation, and set the permission of the navigation application in the automatic driving process according to the user operation, for example, allow the navigation application to automatically open the GNSS interference identification and suppression detection function. Alternatively, the electronic device 100 can not open the GNSS interference detection module, and in this case, the electronic device 100 does not perform S110-S113. Alternatively, the electronic device 100 can open the GNSS interference detection module in the automatic driving process to open the GNSS interference identification and suppression detection function.

[0233] S112: The GNSS interference detection module outputs the first prompt information.

[0234] In an embodiment, when the GNSS interference detection module detects that the electronic device 100 is interfered by GNSS, the GNSS interference detection module can output the first prompt information, for example, display the first prompt information on the display screen of the electronic device 100, and the first prompt information can be used to prompt the user that the current electronic device 100 is interfered by GNSS, for example, display the user interface 440 shown in (A) of FIG. 4B. Figure 5

[0235] S113: When the first preset condition is met, the identification suppression algorithm module outputs the second navigation information.

[0236] In an embodiment, the first preset condition can be that the electronic device 100 has opened the safe navigation mode, and when the first preset condition is met, the identification suppression algorithm module can output the second navigation information, for example, display the second navigation information on the display screen of the electronic device 100.

[0237] In some examples, when the electronic device 100 does not open the safe navigation mode, the first prompt information can also be used to prompt the user to open the safe navigation mode, and the electronic device 100 can open the safe navigation mode in response to a user operation, for example, a touch operation on the control 443A in the user interface 440 shown in (A) of FIG. 4B, and in this case, the identification suppression algorithm module can output the second navigation information, for example, the electronic device 100 displays the user interface 460 shown in (C) of FIG. 4B. Figure 5 Figure 5

[0238] In other examples, when the electronic device 100 opens the function of automatic driving / navigation, the safe navigation mode can be automatically opened, for example, the electronic device 100 can receive a user operation, and set the permission of the navigation application in the automatic driving process according to the user operation, for example, allow the navigation application to automatically open the safe navigation mode, and specific examples can be referred to Figure 6 ​​​The user interface 490 is shown in (C). In this case, after the GNSS interference detection module outputs the first prompt information, it can directly output the second navigation information.

[0239] S114: When the first preset condition is not met, the MSF positioning algorithm module outputs the first navigation information.

[0240] In one implementation, when the first preset condition is not met, the MSF positioning algorithm module can output the first navigation information. At this time, the electronic device 100 can display a prompt message to inform the user that it is currently under GNSS interference and that the navigation positioning and navigation route information may be incorrect. The user can choose to manually drive the electronic device 100.

[0241] In some examples, when electronic device 100 is not in safe navigation mode, for example, electronic device 100 may respond to [the following]: Figure 5 When the user operates the control 443B in the user interface 440 shown in (A), the automatic driving mode is turned off and the safe navigation mode is deactivated. At this time, the electronic device 100 can display a prompt message to inform the user that it is currently under GNSS interference and ask the user to take over / manually drive the electronic device 100.

[0242] The above embodiments are illustrated using autonomous driving as an example, but are not limited thereto. This application can also be applied to manual driving scenarios, and the specific descriptions are similar to those described above.

[0243] exist Figure 7 In the method described, the GNSS interference detection module can use a detection method based on exponentially diminishing sequential probability ratios to promptly detect slowly varying soft faults caused by GNSS interference. This allows for monitoring the onset of GNSS interference, enabling the detection of signal anomalies before a dangerous collision occurs with the electronic device, and alerting the user to an impending threat to driving safety. This improves driving safety, enhances fault detection accuracy, and reduces the false negative rate. Furthermore, the factor graph-based multi-sensor fusion framework avoids the assumptions of linearization and Gaussian noise in the measurement model, improving the fusion accuracy of multiple sensors. This allows the real-time position obtained by the identification and suppression algorithm to more closely approximate the actual position of the electronic device when subjected to GNSS interference, enhancing the robustness and stability of the multi-sensor fusion framework and improving the positioning accuracy of the electronic device during autonomous driving.

[0244] In addition, the GNSS interference detection module can distinguish between abnormal errors caused by GNSS interference and errors caused by natural factors (such as GNSS positioning errors caused by multipath propagation, positioning errors caused by sensor failures such as IMU / LiDAR, etc.). It will only alarm when it is determined that abnormal errors are caused by GNSS interference, thus avoiding false alarms and further improving the accuracy of fault detection.

[0245] Please refer to Figure 10 , Figure 10 is a flowchart of another navigation fault detection method provided by the embodiments of the present application. The method can be applied to the electronic device 100 shown in Figure 1 . The method can be applied to the electronic device 100 shown in Figure 3 . The method can include but is not limited to the following steps:

[0246] S201: The sensor obtains first data.

[0247] In an implementation, S201 is preceded by S101-S114. When the electronic device 100 detects that it is subjected to GNSS interference, the sensor in the electronic device 100 can continuously obtain first data. For example, when the electronic device 100 detects that it is subjected to GNSS interference at time k, the sensor in the electronic device 100 can obtain first data at time m (m is greater than k), and the first data can include a plurality of observations measured by the sensor at time m. For specific description, refer to the description of S101 of Figure 7 , which will not be repeated.

[0248] S202: The sensor sends the first data to the GNSS interference detection module.

[0249] S203: The sensor sends the first data to the identification suppression algorithm module.

[0250] The order of S202 and S203 is not limited.

[0251] S204: The identification suppression algorithm module obtains second state information according to the first data.

[0252] In an implementation, the description of S204 is similar to that of S108 of Figure 7 , except that the second state information in S204 is an estimated value obtained by using the identification suppression algorithm at time m.

[0253] S205: The identification suppression algorithm module obtains second navigation information according to the second state information.

[0254] In an implementation, the description of S204 is similar to that of S109 of Figure 7 , except that the second navigation information in S205 is determined according to the second state information at time m.

[0255] S206: The GNSS interference detection module obtains third data according to the first data, and detects whether the GNSS interference ends according to the third data.

[0256] In an embodiment, the GNSS interference detection module can calculate third data according to first data, where the first data includes, for example but not limited to, observation values measured by the IMU, observation values measured by the lidar, observation values measured by the camera, etc.

[0257] In an embodiment, the third data can be residual information composed of differences between observation values and estimated values at the same time, and the specific description of the third data is similar to that of the second data in S111 and Figure 7 The description of the second data in S111 is similar, except that the estimated values here are estimated values estimated according to observation values of other sensors (such as the IMU and the lidar) other than the GNSS receiver, where an example of a factor graph corresponding to the residual information can be referred to in the following Figure 11 Please refer to Figure 11 , Figure 11 is a structural schematic diagram of a factor graph corresponding to residual information provided by an embodiment of the present application.

[0258] As shown in Figure 11 , Figure 11 and Figure 9 , the structure of the factor graph is similar, except that Figure 11 also includes a node f i，lidar lidar factor, the residual information Z i is related to the IMU pre-integration factor, the 2D / 3D vision positioning factor, the GPS factor, and the lidar factor, where i is a positive integer greater than or equal to 1 and less than or equal to m.

[0259] In some examples, assuming that the residual information of the measurement model is recalculated / reconstructed according to the state variable nodes of the IMU, the lidar, and / or the camera in the factor graph, the residual information can be referred to in the following formula (16):

[0260] Z m =Z gps，m -x imu / lidar，m (16)

[0261] Where Z gps，m represents observation values of a global positioning system (GPS) at m times, x imu / lidar，m represents estimated values at m times, and Z m represents residuals at m times.

[0262] In some examples, taking the residual as the above residual information and the second method as the residual chi-square detection method as an example, a chi-square detection statistic (also referred to as a second interference statistic) can be established according to formula (16) and can be referred to in the following formula (17):

[0263]

[0264] wherein ∑ -1 represents the variance of the residual.

[0265] In an implementation, the GNSS interference detection module can detect whether the GNSS interference ends at the current time according to the third data and the detection result at the last time. In some examples, the GNSS interference detection module can jointly detect whether the GNSS interference ends in the first manner and the second manner. Please refer to Figure 12 , Figure 12 is a logic diagram provided by an embodiment of the present application for jointly detecting the end of the GNSS interference in the first manner and the second manner. As Figure 12 indicated, when the detection result at the last time (at the time of m-1) is that the GNSS interference is received (the GNSS interference does not end), the GNSS interference detection module can first analyze the second data at the current time (at the time of m) by the first manner to obtain the first interference statistical quantity at the time of m. For the specific implementation process, please refer to S111 of Figure 7 . Details are not repeated. When the first interference statistical quantity at the time of m is greater than or equal to the first threshold, the second data is analyzed by the second manner to obtain the second interference statistical quantity. The second manner includes, for example but not limited to, the residual chi-square detection method, and the second interference statistical quantity is compared with the second threshold. When the second interference statistical quantity is less than the second threshold, it is determined that the GNSS interference ends (the ending time is the time of m), and S207 is executed. When the second interference statistical quantity is greater than or equal to the second threshold, it is determined that the GNSS interference does not end (that is, the GNSS interference is still received), and S208 is executed. The specific implementation manner of the detection result at the last time is the same as the implementation manner at the current time (at the time of m), that is, the first manner and the second manner are jointly detected. Alternatively, when the second interference statistical quantity at the time of m is less than the second threshold, it is determined that the GNSS interference does not end.

[0266] wherein the order of S204 and S206 is not limited, and the order of S205 and S206 is not limited.

[0267] S207: The GNSS interference detection module outputs the second prompt information.

[0268] In an implementation, when the GNSS interference detection module detects that the GNSS interference ends, the GNSS interference detection module can output the second prompt information, for example, display the second prompt information on the display screen of the electronic device 100. The second prompt information can be used to prompt the user that the GNSS interference received by the current electronic device 100 has ended, for example, display the user interface 470 shown in (A) of Figure 6 .

[0269] In one implementation, the second prompt message can also be used to prompt the user to activate the autonomous driving mode. In some examples, the electronic device 100 can respond to user operations on a function control for activating the autonomous driving mode, such as for... Figure 6 Touch operation of control 471A in user interface 470 shown in (A) switches from safe navigation mode to automatic driving mode. At this time, the MSF positioning algorithm module can output first navigation information, for example, the electronic device 100 displays... Figure 6 The user interface 480 shown in (B) is an example. In other examples, the electronic device 100 can respond to... Figure 6 According to the user operation of control 471B in the user interface 470 shown in (A), the automatic driving mode is deactivated and the system remains in the safe navigation mode. At this time, the recognition and suppression algorithm module can output the second navigation information. Not limited to this, in some other examples, the electronic device 100 can deactivate the automatic driving mode and deactivate the safe navigation mode according to the user operation. In this case, the user can choose to manually drive the electronic device 100.

[0270] S208: When the first preset condition is met, the identification and suppression algorithm module outputs the second navigation information.

[0271] In one implementation, when the GNSS interference detection module detects that the GNSS interference has not ended, the electronic device 100 is still subject to GNSS interference. When a first preset condition is met, the identification and suppression algorithm module can continue to output second navigation information. (Detailed explanation follows.) Figure 7 The description of S113 is similar and will not be repeated here.

[0272] In one implementation, after S208, the electronic device 100 can execute S201-S206 again. At this time, the time corresponding to the first data obtained is different from the time m. Accordingly, the time corresponding to the data obtained based on the first data is also different from the time m.

[0273] Not limited to the above-described embodiments, in another embodiment, after S207, if the navigation of the electronic device 100 has not yet ended, the electronic device 100 may execute again. Figure 7 S101-S111.

[0274] In one embodiment, an example diagram showing the detection of GNSS interference and the termination of GNSS interference by electronic device 100 can be found. Figure 13 Please see. Figure 13 , Figure 13 This is a schematic diagram of a GNSS interference detection process provided in an embodiment of this application.

[0275] like Figure 13As shown, assuming that the electronic device 100 is interfered by GNSS at position 1, the navigation route of the electronic device 100 will be changed, for example, the route of driving straight on lane b changes to the route of switching from lane b to lane a. The electronic device 100 will drive according to the changed route (first navigation information), and during the process of driving from position 1 to position 2, when the electronic device 100 drives to the offset boundary, the electronic device 100 detects that the offset distance A is greater than or equal to the first offset threshold, and the electronic device 100 determines that it is interfered by GNSS, at this time, the electronic device 100 can display warning information to prompt the user that the current is interfered by GNSS. Assuming that the electronic device 100 is interfered by GNSS and the safety navigation mode is not turned on, the electronic device 100 continues to drive according to the changed route (for example, from position 2 to position 3), and during the process of driving from position 3 to position 4, when the electronic device 100 drives to the offset boundary, the electronic device 100 detects that the offset distance B is less than the second offset threshold, and the electronic device 100 determines that the GNSS interference ends, at this time, the electronic device 100 can display the end of warning information to prompt the user that the current GNSS interference ends. Wherein, the offset distance A can indicate the first interference statistical quantity in the Figure 7 , the first offset threshold can indicate the first threshold in the Figure 7 , the offset distance B can indicate the second interference statistical quantity in the Figure 10 , and the second offset threshold can indicate the second threshold in the Figure 10 .

[0276] Not limited to the above example, in another example, after the electronic device 100 detects that the offset distance A is greater than or equal to the first offset threshold, if the safety navigation mode is turned on, it will drive according to the navigation route when not interfered by GNSS (corresponding to the second navigation information above), and when the electronic device 100 detects that the offset distance B is less than the second offset threshold, it is determined that the GNSS interference ends, at this time, the electronic device 100 can display the end of warning.

[0277] In the method shown in Figure 10 , the GNSS interference detection module can use the method of joint exponential fading sequential probability ratio and chi-square test to detect the sudden hard failure in GNSS interference in time, to monitor the end time of GNSS interference, to avoid false alarm caused by not timely detection, so that the normal GNSS signal cannot be used for navigation and positioning, and to display the end of warning information when detecting the end of GNSS interference, to prompt the user that the current driving safety threat is removed. And during the GNSS interference, the electronic device can display the real-time position obtained by the recognition suppression algorithm, to avoid the influence of the error positioning information output by the GNSS interference on the user's use, to further improve the safety of the electronic device in automatic driving, and to ensure the safety of the user.

[0278] The method provided by the embodiments of the present application can be implemented by software, hardware, firmware or any combination thereof, in whole or in part. When implemented by software, it can be implemented in the form of a computer program product, in whole or in part. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user equipment or other programmable apparatus. 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, computer, server or data center to another website, computer, server or data center through a wired (such as coaxial cable, optical fiber, digital subscriber line (DSL) or wireless (such as infrared, wireless, microwave, etc.)) way. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media sets. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a digital video disc (DWD)), or a semiconductor medium (such as a solid state disk (SSD), etc.). The above described embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A navigation fault detection method, characterized in that, Applied to a first device, the method includes: Acquire first data, which includes multiple observations at a first moment measured by multiple sensors in the first device; The first state information of the first device at the first moment is obtained based on the first data; Based on the first data and the first status information, detect whether the first device is subject to GNSS interference from the Global Navigation Satellite System. When GNSS interference is detected on the first device, a first interface is displayed, which includes a first prompt message indicating that the first device is subject to GNSS interference. When GNSS interference is detected on the first device, a third interface is displayed. The third interface includes a second location and a second route. The second location is the location of the first device at the first time estimated based on the first status information, and the second route is the navigation route of the first device at the first time estimated based on the first status information. The first state information is obtained based on the recognition and suppression algorithm.

2. The method as described in claim 1, characterized in that, The step of detecting whether the first device is subject to GNSS interference based on the first data and the first status information includes: Based on the first data, the historical data corresponding to the first data, the first status information, and the historical status information corresponding to the first status information, it is detected whether the first device is subject to GNSS interference.

3. The method as described in claim 2, characterized in that, The step of detecting whether the first device is subject to GNSS interference based on the first data, the historical data corresponding to the first data, the first status information, and the historical status information corresponding to the first status information includes: The second data is obtained based on the first data, the historical data corresponding to the first data, the second status information, and the historical status information corresponding to the second status information; The first statistic of the first device at the first moment is obtained based on the second data. When the first statistic is greater than or equal to the first threshold, it is determined that the first device is subject to GNSS interference.

4. The method according to any one of claims 1-3, characterized in that, The method further includes: When it is detected that the first device is not subject to GNSS interference, a second interface is displayed. The second interface includes a first location and a first route. The first location is the location of the first device at the first time estimated based on the second state information, and the first route is the navigation route of the first device at the first time estimated based on the second state information.

5. The method as described in claim 4, characterized in that, The second state information is obtained based on the second algorithm, which is the multi-sensor fusion MSF positioning algorithm.

6. The method according to any one of claims 1-3, characterized in that, The first state information includes at least one of the following: the position, attitude, speed, and time of the first device.

7. The method as described in claim 1, characterized in that, The method further includes: When the first interface is displayed, the first operation is received; In response to the first operation, a third interface is displayed, the third interface including a second location and a second route, the second location being the location of the first device at the first time estimated based on the first state information, and the second route being the navigation route of the first device at the first time estimated based on the first state information.

8. The method as described in claim 1, characterized in that, The step of displaying a first interface when GNSS interference is detected on the first device includes: When GNSS interference is detected on the first device, if the defense function is not enabled, the first interface will be displayed. The method further includes: When GNSS interference is detected on the first device, if the defense function is enabled, a third interface is displayed. The third interface includes a second location and a second route. The second location is the location of the first device at the first time estimated based on the first status information, and the second route is the navigation route of the first device at the first time estimated based on the first status information.

9. The method as described in claim 1, characterized in that, The method further includes: When the first interface is displayed, the driving mode of the first device is automatic driving mode. After displaying the first interface, the method further includes: Receive a second operation, the second operation being used to switch the autonomous driving mode to manual driving mode.

10. The method as described in claim 1, characterized in that, The detection of GNSS interference affecting the first device includes: When the detected offset distance is greater than or equal to the offset threshold, it is determined that the first device is subject to GNSS interference. The offset distance is the difference between the first position and the second position. The first position is the position estimated according to the first algorithm, and the second position is the position estimated according to the second algorithm. The first algorithm is the identification suppression algorithm, and the second algorithm is the MSF positioning algorithm. When the detected offset distance is less than the offset threshold, it is determined that the GNSS interference experienced by the first device has ended.

11. The method as described in claim 10, characterized in that, The method further includes: When it is detected that the first device is not subject to GNSS interference, the first device is located in the first lane; The offset distance is the distance between the first position estimated by the first algorithm and the lane dividing line, where the lane dividing line is the dividing line between the first lane and the adjacent lane.

12. The method according to any one of claims 1-3, characterized in that, The method further includes: After detecting GNSS interference to the first device, second data is acquired. The second data includes multiple observations at a second time obtained by the multiple sensors respectively. The second time is later than the first time. The GNSS interference experienced by the first device is detected based on the second data to determine whether it has ended. When the GNSS interference detected to the first device ends, a second prompt message is displayed, indicating that the GNSS interference to the first device has ended.

13. The method as described in claim 12, characterized in that, The method further includes: After the GNSS interference detected by the first device ends, a fourth interface is displayed. The fourth interface includes a third location and a third route. The third location is the position of the first device at the second time estimated based on the third state information. The third route is the navigation route of the first device at the second time estimated based on the third state information. The third state information is obtained according to a second algorithm, which is the MSF positioning algorithm.

14. The method as described in claim 4, characterized in that, After displaying the second interface, the method further includes: When the first device is detected to be subject to GNSS interference, if the defense function is not enabled, a fifth interface is displayed. The fifth interface includes a fourth location and a fourth route. The fourth location and the fourth route are obtained according to a second algorithm. The time corresponding to the fourth location is later than the first time. The fourth location is different from the first location, and the fourth route is different from the first route. The second algorithm is the MSF positioning algorithm.

15. The method as described in claim 12, characterized in that, The step of detecting whether the GNSS interference received by the first device has ended based on the second data includes: The third data is obtained based on the second data and the first estimate. The first estimate is obtained based on a portion of the observations in the second data. The first estimate is obtained based on the first algorithm, which is a recognition and suppression algorithm. The first estimate corresponds to the second time point, and the third data corresponds to the second time point. When GNSS interference is detected on the first device at the third moment, a second statistic is obtained based on the second data. The third moment is the moment before the second moment, and the second statistic corresponds to the second moment. When the second statistic is greater than or equal to the first threshold, a third statistic is obtained based on the third data, and the third statistic corresponds to the second time point; When the third statistic is greater than or equal to the second threshold, it is determined that the GNSS interference experienced by the first device has ended.

16. An electronic device, characterized in that, It includes a transceiver, a processor, and a memory, the memory being used to store a computer program, and the processor calling the computer program to perform the method as described in any one of claims 1-15.

17. A computer storage medium, characterized in that, The computer storage medium stores a computer program, which, when executed by a processor, implements the method as described in any one of claims 1-15.

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