Anti-interference and anti-cheating method, device, equipment and product
By receiving satellite signals and determining target signals based on occlusion data, the problems of GNSS receivers in identifying and eliminating multipath interference and spoofing signals are solved, the accuracy of signal recognition and the anti-interference ability of the receiver are improved, and the hardware upgrade is reduced cost.
Patent Information
- Application Number
- CN202411397167.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-08
- Publication Date
- 2025-01-03
AI Technical Summary
The prior art has increased the hardware cost of GNSS receivers in terms of anti-interference and anti-spoofing, and the difficulty and cost of upgrading the used GNSS receivers is relatively high, making it difficult to effectively identify and eliminate multipath interference and spoofing signals, affecting positioning. Accuracy.
By receiving satellite signals, determine the real-time relative position of the satellite, and determine the target signal based on the preset occlusion data, and eliminate satellite signals outside the occlusion area, thereby realizing the identification and filtering of interfering signals and spoofing signals, improving the accuracy of signal recognition Sex and reliability.
Effectively eliminate interference signals and spoof signals, improve the positioning accuracy of GNSS receivers, reduce the cost and difficulty of hardware upgrades, and improve the receiver's anti-interference and anti-spoofing ability.
Smart Images
Figure CN119247408A_ABST
Abstract
Description
Technical Field
[0001] The embodiments of the present application belong to the field of satellite signal processing technology, and in particular, relate to an anti-interference and anti-deception method, device, equipment and product. Background Art
[0002] Satellite navigation positioning is a method of continuously transmitting GNSS (Global Navigation Satellite System) signals through multiple satellites. A GNSS receiver can receive GNSS signals and locate its own position through GNSS signals.
[0003] Since the distance between the satellite and the ground is long, the signal strength when it reaches the ground is usually weak, which is very susceptible to deception and interference. One of the common interferences is multipath interference, that is, when the satellite signal reaches the ground, due to the existence of obstructions such as high-rise buildings or trees, the GNSS receiver should not be able to observe the signal of the satellite. However, due to the reflection of the wireless signal by the building or other obstructions, the signal that should not be observable in the straight-line line of sight indirectly reaches the GNSS receiver through reflection, creating the illusion that the satellite is visible. The path of the multipath signal to the GNSS receiver is different from the straight-line propagation method, resulting in errors in the pseudo-range information extracted by the GNSS receiver, thereby affecting the positioning accuracy calculated by the GNSS receiver. The GNSS receiver may also receive false deceptive GNSS signals, which will affect its positioning results.
[0004] For fixed-position receivers, collecting environmental information around the receiver installation location is very helpful for the receiver to identify deception and interference signals. For example, for fixed-position devices such as surveillance cameras, since they need to be installed and fixed on the wall, they are usually unable to receive satellite signals from behind the wall due to the shielding effect of the wall. At present, most anti-interference and anti-deception solutions distinguish based on signal observation information or ephemeris orbit information. When distinguishing by collecting environmental information, new hardware needs to be introduced to achieve anti-interference and anti-deception. For example: add a fisheye camera to the GNSS receiver, collect surrounding environmental information through the fisheye camera, and then use artificial intelligence image processing technology to identify the sky area in the image, and then map the constellation distribution to the sky area, so as to determine which satellites are theoretically visible in this environment, and then distinguish interference signals and deception signals.
[0005] The existing technology not only increases the hardware cost of GNSS receivers, but also the difficulty and cost of upgrading are enormous if the GNSS receivers already in use are widely upgraded. Summary of the invention
[0006] In view of this, the embodiments of the present application provide an anti-interference and anti-spoofing method, device, equipment and product to improve the accuracy and reliability of identifying interference signals and deception signals in received satellite signals.
[0007] A first aspect of an embodiment of the present application provides an anti-interference and anti-cheating method, comprising:
[0008] Receive satellite signals;
[0009] Determining the real-time relative position of the satellite corresponding to the satellite signal;
[0010] Determining a target signal according to the real-time relative position and preset occlusion data;
[0011] The target signal is a satellite signal corresponding to a satellite outside the shielding area; the shielding area is an area where the satellite is located when there is an obstruction on a straight line connecting path between the satellite and a preset local position.
[0012] A second aspect of an embodiment of the present application provides an anti-interference and anti-cheating device, comprising:
[0013] A receiving module, used for receiving satellite signals;
[0014] A real-time relative position determination module, used to determine the real-time relative position of the satellite corresponding to the satellite signal;
[0015] A target signal determination module, used to determine the target signal according to the real-time relative position and preset occlusion data;
[0016] The target signal is a satellite signal corresponding to a satellite outside the shielding area; the shielding area is an area where the satellite is located when there is an obstruction on a straight line connecting path between the satellite and a preset local position.
[0017] In a possible implementation manner of the first aspect, determining the real-time relative position of the satellite corresponding to the satellite signal includes:
[0018] Calculating the real-time position of the satellite corresponding to the satellite signal;
[0019] The real-time relative position of the satellite is determined based on the real-time true position and the preset local position.
[0020] In a possible implementation manner of the first aspect, the method further includes:
[0021] Performing calculation processing based on the target signal to generate a processing result;
[0022] The processing result includes positioning information and / or time information.
[0023] In a possible implementation manner of the first aspect, the occlusion data includes occlusion weights corresponding to each relative position; and determining the target signal according to the real-time relative position and preset occlusion data includes:
[0024] Determine the target occlusion weight corresponding to the real-time relative position;
[0025] When the target occlusion weight is within a preset range, the satellite signal corresponding to the real-time relative position is determined to be a target signal.
[0026] In a possible implementation manner of the first aspect, before receiving the satellite signal, the method further includes:
[0027] Obtaining historical satellite signal statistical data; the historical satellite signal statistical data includes historical satellite signals;
[0028] In the case where the historical satellite signal disappears, determining a relative position corresponding to the disappeared historical signal and a signal disappearance frequency corresponding to the relative position;
[0029] Determine the occlusion weight according to the signal disappearance frequency at each relative position;
[0030] Occlusion data is generated based on each relative position and its corresponding occlusion weight.
[0031] In a possible implementation manner of the first aspect, the real-time relative position includes real-time azimuth information and real-time elevation information.
[0032] In a possible implementation manner of the first aspect, determining the target signal according to the real-time relative position and preset occlusion data includes:
[0033] Determine the relative position of the occlusion in the preset occlusion data;
[0034] Determine that the satellite signal whose real-time relative position is inconsistent with the obstruction relative position is the target signal.
[0035] A third aspect of an embodiment of the present application provides a receiver, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the anti-interference and anti-deception method as described in the first aspect above is implemented.
[0036] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the anti-interference and anti-deception method as described in the first aspect above is implemented.
[0037] A fifth aspect of an embodiment of the present application provides a computer program product. When the computer program product runs on a computer, the anti-interference and anti-cheating method described in the first aspect is executed.
[0038] Compared with the prior art, the embodiments of the present application have the following beneficial effects:
[0039] In an embodiment of the present application, a satellite signal is received; a real-time relative position of a satellite corresponding to the satellite signal is determined; a target signal is determined based on the real-time relative position and preset occlusion data; wherein the target signal is a satellite signal corresponding to a satellite located outside an occlusion area; the occlusion area is an area where a satellite is located when an occlusion exists in a straight line connection path between the satellite and a preset local position. Since the satellite signal whose real-time relative position matches the occlusion data is a satellite signal that theoretically cannot be received by the receiver, that is, an interference signal or a deception signal, the embodiment of the present application can eliminate the satellite signal whose real-time relative position matches the occlusion data from the satellite signal received by the receiver to obtain the target signal, thereby avoiding interference signals or deception signals from affecting the operation of the receiver, thereby realizing the anti-interference and anti-deception capabilities of the receiver. BRIEF DESCRIPTION OF THE DRAWINGS
[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or prior art descriptions. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0041] Figure 1 is a schematic diagram of an anti-interference and anti-cheating method provided in an embodiment of the present application;
[0042] Figure 2 is a schematic diagram of another anti-interference and anti-cheating method provided in an embodiment of the present application;
[0043] Figure 3 is a schematic diagram of an anti-interference and anti-cheating device provided in an embodiment of the present application;
[0044] Figure 4 It is a schematic diagram of a receiver provided in an embodiment of the present application. DETAILED DESCRIPTION
[0045] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.
[0046] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.
[0047] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.
[0048] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.
[0049] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.
[0050] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.
[0051] The embodiments of the present application can be applied to a fixed-position GNSS receiver (hereinafter referred to as a receiver). The satellite signal specifically refers to a signal sent by a satellite in a global navigation satellite system. The receiver can locate or time the satellite signal. The receiver can also output the positioning result and / or timing result to the outside. For example, the receiver acts as a timing device for a base station or a power system, and provides the timing result to the base station or the power system.
[0052] The technical solution of the present application is described below through specific embodiments.
[0053] First embodiment
[0054] Reference Figure 1 , shows a schematic diagram of an anti-interference and anti-spoofing method provided in an embodiment of the present application, which may specifically include the following steps:
[0055] Step 101, receiving satellite signals;
[0056] The receiver can receive satellite signals corresponding to one or more global navigation satellite systems, including but not limited to the Beidou Satellite Navigation System, GPS (Global Positioning System), GLONASS, and Galileo Satellite Navigation System.
[0057] For example: receiver A can only receive satellite signals sent by GPS, receiver B can only receive satellite signals sent by the Beidou satellite navigation system, and receiver C can receive satellite signals sent by both GPS and Beidou satellite navigation systems.
[0058] Step 102, determining the real-time relative position of the satellite corresponding to the satellite signal;
[0059] After receiving multiple satellite signals, the receiver can continuously locate the satellite that sent the received satellite signals, and further can continuously determine the real-time relative position of the satellite corresponding to each satellite signal and the location of the receiver.
[0060] A coordinate system can be constructed based on the location of the receiver, and the real-time relative position is the relative position of the satellite and the receiver in the coordinate system.
[0061] As an example, the coordinate system may be a three-dimensional coordinate system with the location of the receiver as the origin, and the coordinate system may be a three-dimensional rectangular coordinate system or a spherical coordinate system.
[0062] Step 103, determining a target signal according to the real-time relative position and preset occlusion data;
[0063] The target signal is a satellite signal corresponding to a satellite outside the shielding area; the shielding area is an area where the satellite is located when there is an obstruction on a straight line connecting path between the satellite and a preset local position.
[0064] The received satellite signals are filtered by combining the real-time relative position and the occlusion data, and the satellite signals matching the occlusion data are removed from the satellite signals received by the receiver. When the satellite signal matches the occlusion data, it means that the satellite signal is located in the occlusion area where the receiver is located (at this time, there is an obstruction between the satellite and the receiver, and the obstruction is an object that blocks the satellite signal from propagating in a straight line. In theory, the receiver cannot receive the satellite signal). The satellite signal is confirmed as an interference signal or a deception signal, and the satellite signal matching the occlusion data is removed as the target signal, that is, the target signal is the satellite signal after the interference signal and the deception signal are removed. The target signal can include one or more satellite signals.
[0065] In an embodiment of the present application, a satellite signal is received; the real-time relative position of the satellite corresponding to the satellite signal is determined; a target signal is determined based on the real-time relative position and preset occlusion data; wherein the target signal is a satellite signal corresponding to a satellite located outside an occlusion area; the occlusion area is an area where the satellite is located when there is an occlusion in a straight line connection path between the satellite and a preset local position. Since the satellite signal whose real-time relative position matches the occlusion data is a satellite signal that theoretically cannot be received by the receiver, that is, an interference signal or a deception signal, the embodiment of the present application can eliminate the satellite signal whose real-time relative position matches the occlusion data from the satellite signal received by the receiver to obtain the target signal, thereby avoiding interference signals or deception signals from affecting the operation of the receiver, thereby realizing the anti-interference and anti-deception of the receiver.
[0066] In an optional implementation of the first embodiment, step 102 includes: calculating the real-time position of the satellite corresponding to the satellite signal; and determining the real-time relative position of the satellite according to the real-time position and a preset local position.
[0067] The receiver can locate the satellite corresponding to the received satellite information based on the received multiple satellite signals to determine the real-time position of the satellite. The real position (also called absolute position) can be a position determined based on a default reference system or a default position. For example, the real position can be a position determined based on the center of mass of the earth.
[0068] After the real-time true position of the satellite is determined, the real-time true position and the preset local position (ie, the position of the receiver) are combined to determine the real-time relative position of the satellite with respect to the receiver.
[0069] In an optional implementation manner of the first embodiment, the real-time relative position includes real-time azimuth information and real-time elevation information.
[0070] The real-time relative position can be determined based on the same straight line where the real-time position of the satellite and the local position are located, and the relationship between the straight line and the local position. The real-time relative position includes real-time azimuth information relative to the local position and real-time elevation information relative to the local position.
[0071] For example, the reference plane of the local position (the plane with an elevation angle of 0°) can be predetermined, for example, the plane parallel to the horizontal plane where the local position is located and where the local position is located is used as the reference plane. After a real-time real position and the straight line where the local position is located, the real-time relative position is determined based on the straight line and the reference plane, including the real-time azimuth information of 45° azimuth and the real-time elevation information of 30° elevation.
[0072] In an optional implementation manner of the first embodiment, the method further includes: performing calculation processing based on the target signal to generate a processing result; wherein the processing result includes positioning information and / or time information.
[0073] After the receiver determines the target signal, the receiver can perform calculations based on the target signal, including positioning solution and / or time synchronization calculation. The receiver can perform positioning solution based on the received target signal to obtain positioning information. Although the local position is a predetermined position, it may be necessary to update or verify the local position in some scenarios. Therefore, the receiver can use the target signal to perform positioning solution to obtain positioning information and then update or verify the local position.
[0074] The receiver can be used as a timing device to provide high-precision time information to the outside. After receiving the target signal, the receiver uses the target signal to perform time synchronization calculations to obtain high-precision time information, and can output the time information to the outside to realize the timing function of the receiver. In practical applications, since the local position is a predetermined position, the receiver can complete the time synchronization calculation using a satellite signal.
[0075] In an optional implementation of the first embodiment, the occlusion data includes occlusion weights corresponding to each relative position; step 103 includes: determining the target occlusion weight corresponding to the real-time relative position; when the target occlusion weight is within a preset range, determining that the satellite signal corresponding to the real-time relative position is the target signal.
[0076] The occlusion area is an area formed by the real position of the satellite corresponding to the relative position and whose weight value is outside the preset range. For the same receiver, the occlusion area can be one or more.
[0077] The occlusion data records the occlusion weights corresponding to each relative position. The occlusion weight corresponding to the real-time relative position of the satellite is determined as the target occlusion weight. When the target occlusion weight is within the preset range, it means that the satellite is currently outside the occlusion area, and the satellite signal corresponding to the satellite is determined to be the target signal.
[0078] The preset range may include an upper limit value and / or a lower limit value. For example: the preset range includes only the lower limit value. When the target occlusion weight is not less than the lower limit value, it is determined that the target occlusion weight is within the preset range, and the satellite signal is the target signal; or, the preset range includes only the upper limit value. When the target occlusion weight is not greater than the upper limit value, it is determined that the target occlusion weight is within the preset range, and the satellite signal is the target signal; or, the preset range includes the upper limit value and the lower limit value. When the target occlusion weight is not less than the lower limit value and not greater than the upper limit value, it is determined that the target occlusion weight is within the preset range, and the satellite signal is the target signal.
[0079] The upper limit value and the lower limit value are predetermined threshold values.
[0080] In an optional implementation of the first embodiment, before step 101, the method further includes: obtaining historical satellite signal statistical data; the historical satellite signal statistical data includes historical satellite signals; when the historical satellite signal disappears, determining the relative position corresponding to the disappeared historical signal and the signal disappearance frequency corresponding to the relative position; determining the occlusion weight for the signal disappearance frequency at each relative position; and generating occlusion data based on each relative position and its corresponding occlusion weight.
[0081] Since the receiver is fixed at a certain position, there may be fixed obstructions on the straight path between the receiver and the satellite. Therefore, before step 101, the satellite signals received by the receiver within a certain period of time can be collected as historical satellite signals. The real positions of each satellite in the global satellite navigation system corresponding to the historical satellite signals are calculated according to the ephemeris of the historical satellite signals and the historical satellite signals, and then the relative positions of each satellite relative to the local position are obtained. The relative position when the historical satellite signal disappears is recorded, and the signal disappearance frequency corresponding to the relative position is calculated. The occlusion weight is determined based on the signal disappearance frequency at each relative position, and the occlusion data is obtained. The higher the signal disappearance frequency, the higher the occlusion weight. The higher the occlusion weight, the higher the probability that there is an obstruction between the satellite and the receiver when the satellite is in the relative position, that is, the higher the probability that the satellite is currently in the occlusion area. By setting the above-mentioned preset range and combining the occlusion weight, it is possible to screen interference deception signals with high credibility.
[0082] As an example, the historical satellite signals are satellite signals within a certain period of time (e.g., several weeks) before a certain time (e.g., before the current moment, before the current day), so that the credibility of the historical satellite signal statistical data can be updated in rotation. For example: if the current day is December 3, 2023, and the certain period of time is 30 days, the historical satellite signals are satellite signals received from November 2, 2023 to December 2, 2023; as time changes, if the current day is December 13, 2023, the historical satellite signals are satellite signals received from November 12, 2023 to December 12, 2023, so as to update the credibility of the historical satellite signal statistical data.
[0083] In a practical application, after the receiver is started for the first time, it captures and tracks the satellite signal, collects the satellite's ephemeris and almanac, and calculates the theoretical real-time absolute position of each satellite in the entire satellite system based on the ephemeris and almanac. The actual satellite signal reception status and the calculated theoretical real-time absolute position are compared over a long period of time to find the possible fixed occlusion area in three-dimensional space. For example, assuming that every time there is a straight line between the theoretical real-time absolute position of the satellite and the fixed position known to the receiver corresponding to the elevation angle of 30° and the azimuth angle of 45°, the signal of the satellite will disappear, then the elevation angle of 30° and the azimuth angle of 45° may be a fixed occlusion direction angle existing in the surrounding environment, and the occlusion weight of the occlusion in this direction angle is +1. Through long-term statistics, a set of local offline stored statistical data is formed, and an occlusion weight is set for the direction angle corresponding to all elevation and azimuth angle combinations. The larger the occlusion weight, the greater the probability of occlusion. When it exceeds a certain threshold, the satellite signal appearing in this direction angle is considered unreliable. When interference and deception signals appear, the interference and deception signals are filtered using the occlusion weights. If the occlusion weight corresponding to the direction angle corresponding to the straight line connecting the theoretical real-time absolute position of the satellite recorded by the signal and the fixed position known to the receiver exceeds the threshold, the satellite signal is excluded, and the currently received satellite signal after excluding the interference and deception signals is regarded as the target signal.
[0084] Second embodiment
[0085] Reference Figure 2 , shows a schematic diagram of another anti-interference and anti-spoofing method provided in an embodiment of the present application, which may specifically include the following steps:
[0086] Step 201, receiving satellite signals;
[0087] Step 202, determining the real-time relative position of the satellite corresponding to the satellite signal;
[0088] Step 203, determining the relative position of the occlusion in the preset occlusion data;
[0089] Before step 201, the occlusion data is generated by the following method. Obtain historical satellite signal statistical data; the historical satellite signal statistical data includes historical satellite signals; when the historical satellite signal disappears, determine the relative position corresponding to the disappeared historical signal and the signal disappearance frequency corresponding to the relative position; determine the occlusion weight according to the signal disappearance frequency of each relative position; determine the relative position with an occlusion weight greater than a preset threshold as an occlusion relative position; and generate occlusion data according to the occlusion relative position.
[0090] After determining the signal disappearance frequency of each relative position and obtaining the occlusion weight, the receiver determines the occlusion relative position of the relative position whose occlusion weight is higher than a preset threshold.
[0091] When the receiver needs to remove the interference deception signal, the determined relative position of the occlusion can be read from the occlusion data.
[0092] Step 204, determining that the satellite signal whose real-time relative position is inconsistent with the obstruction relative position is the target signal;
[0093] The target signal is a satellite signal corresponding to a satellite outside the shielding area; the shielding area is an area where the satellite is located when there is an obstruction on a straight line connecting path between the satellite and a preset local position.
[0094] When the real-time relative position of the satellite is consistent with the relative position of the shielding, it means that there is an obstruction between the satellite and the receiver, and the satellite is in the shielding area. Therefore, the satellite signal whose real-time relative position is inconsistent with the relative position of the shielding can be determined as the target signal, thereby eliminating the interference deception signal.
[0095] In an embodiment of the present application, by receiving a satellite signal; determining the real-time relative position of the satellite corresponding to the satellite signal; determining the occlusion relative position in the preset occlusion data; determining the satellite signal whose real-time relative position is inconsistent with the occlusion relative position as a target signal; wherein the target signal is a satellite signal corresponding to a satellite located outside the occlusion area; the occlusion area is the area where the satellite is located when there is an occlusion in the straight-line connection path between the satellite and the preset local position, so that after determining the real-time relative position corresponding to the received satellite signal, the satellite signal whose real-time relative position is consistent with the occlusion relative position is determined as an interference deception signal, and then the satellite signal whose real-time relative position is inconsistent with the occlusion relative position can be determined as a target signal, so as to eliminate the interference deception signal, avoid the interference signal or deception signal from affecting the operation of the receiver, and realize the anti-interference and anti-deception of the receiver.
[0096] In an optional implementation manner of the second embodiment, determining the real-time relative position of the satellite corresponding to the satellite signal includes:
[0097] Calculating the real-time position of the satellite corresponding to the satellite signal;
[0098] The real-time relative position of the satellite is determined based on the real-time true position and the preset local position.
[0099] In an optional implementation manner of the second embodiment, the real-time relative position includes real-time azimuth information and real-time elevation information.
[0100] In an optional implementation manner of the second embodiment, the method further includes:
[0101] Performing calculation processing based on the target signal to generate a processing result;
[0102] The processing result includes positioning information and / or time information.
[0103] It should be noted that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.
[0104] Reference Figure 3 , shows a schematic diagram of an anti-interference and anti-spoofing device provided in an embodiment of the present application, which may specifically include a receiving module 301, a real-time relative position determination module 302, and a target signal determination module 303, wherein:
[0105] A receiving module 301, used for receiving satellite signals;
[0106] A real-time relative position determination module 302 is used to determine the real-time relative position of the satellite corresponding to the satellite signal;
[0107] A target signal determination module 303, configured to determine a target signal according to the real-time relative position and preset occlusion data;
[0108] The target signal is a satellite signal corresponding to a satellite outside the shielding area; the shielding area is an area where the satellite is located when there is an obstruction on a straight line connecting path between the satellite and a preset local position.
[0109] In an optional implementation manner of the present application, the real-time relative position determination module 302 includes:
[0110] A real-time true position calculation submodule, used to calculate the real-time true position of the satellite corresponding to the satellite signal;
[0111] The real-time relative position determination submodule is used to determine the real-time relative position of the satellite based on the real-time true position and the preset local position.
[0112] In an optional implementation manner of the present application, the device further includes:
[0113] A calculation module, used for performing calculation processing based on the target signal to generate a processing result;
[0114] The processing result includes positioning information and / or time information.
[0115] In an optional implementation manner of the present application, the occlusion data includes occlusion weights corresponding to respective relative positions; the target signal determination module 303 includes:
[0116] A target occlusion weight determination submodule, used to determine the target occlusion weight corresponding to the real-time relative position;
[0117] The target signal first determination submodule is used to determine that the satellite signal corresponding to the real-time relative position is the target signal when the target occlusion weight is within a preset range.
[0118] In an optional implementation manner of the present application, the device further includes:
[0119] A statistical data acquisition module, used to acquire historical satellite signal statistical data; the historical satellite signal statistical data includes historical satellite signals;
[0120] A signal disappearance determination module, used to determine, when the historical satellite signal disappears, a relative position corresponding to the disappeared historical signal and a signal disappearance frequency corresponding to the relative position;
[0121] An occlusion weight determination module is used to determine the occlusion weight according to the signal disappearance frequency at each relative position;
[0122] The occlusion data generation module is used to generate occlusion data according to each relative position and its corresponding occlusion weight.
[0123] In an optional implementation manner of the present application, the real-time relative position includes real-time azimuth information and real-time elevation information.
[0124] In an optional implementation manner of the present application, the occlusion data includes one or more occlusion relative positions; the target signal determination module 303 includes:
[0125] The occlusion relative position determination submodule is used to determine the occlusion relative position in the preset occlusion data;
[0126] The second target signal determination submodule is used to determine that the satellite signal whose real-time relative position is inconsistent with the obstruction relative position is the target signal.
[0127] In an optional implementation of the present application, the occlusion data generation module includes:
[0128] The occlusion relative position determination submodule is used to determine the relative position whose occlusion weight is greater than a preset threshold as the occlusion relative position;
[0129] The occlusion data generation submodule is used to generate occlusion data according to the occlusion relative position.
[0130] An embodiment of the present application provides an anti-interference and anti-cheating device, and by using the device, each step in the aforementioned method embodiments can be implemented.
[0131] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment part.
[0132] Reference Figure 4 , shows a schematic diagram of a receiver provided by an embodiment of the present application. Figure 4 As shown, the receiver 400 in the embodiment of the present application includes: a processor 410, a memory 420, and a computer program 421 stored in the memory 420 and executable on the processor 410. When the processor 410 executes the computer program 421, the steps in each embodiment of the above-mentioned anti-interference and anti-spoofing method are implemented, such as Figure 1 Steps 101 to 103 shown in FIG. 1 , or as shown in FIG. Figure 2 Alternatively, when the processor 410 executes the computer program 421, the functions of each module / unit in the above-mentioned device embodiments are realized, for example Figure 3 Functions of modules 301 to 303 are shown.
[0133] Exemplarily, the computer program 421 may be divided into one or more modules / units, which are stored in the memory 420 and executed by the processor 410 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which may be used to describe the execution process of the computer program 421 in the receiver 400. For example, the computer program 421 may be divided into a receiving module, a real-time relative position determination module, and a target signal determination module, and the specific functions of each module are as follows:
[0134] A receiving module, used for receiving satellite signals;
[0135] A real-time relative position determination module, used to determine the real-time relative position of the satellite corresponding to the satellite signal;
[0136] A target signal determination module, used to determine the target signal according to the real-time relative position and preset occlusion data;
[0137] The target signal is a satellite signal corresponding to a satellite outside the shielding area; the shielding area is an area where the satellite is located when there is an obstruction on a straight line connecting path between the satellite and a preset local position.
[0138] The receiver 400 may include, but is not limited to, a processor 410 and a memory 420. Those skilled in the art will appreciate that Figure 4 It is only an example of the receiver 400 and does not constitute a limitation of the receiver 400. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the receiver 400 may also include input and output devices, network access devices, buses, etc.
[0139] The processor 410 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.
[0140] The memory 420 may be an internal storage unit of the receiver 400, such as a hard disk or memory of the receiver 400. The memory 420 may also be an external storage device of the receiver 400, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the receiver 400. Further, the memory 420 may also include both an internal storage unit of the receiver 400 and an external storage device. The memory 420 is used to store the computer program 421 and other programs and data required by the receiver 400. The memory 420 may also be used to temporarily store data that has been output or is to be output.
[0141] An embodiment of the present application further discloses a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the anti-interference and anti-deception method as described in the aforementioned embodiments is implemented.
[0142] An embodiment of the present application further discloses a computer program product. When the computer program product is run on a computer, the anti-interference and anti-cheating methods described in the above embodiments are executed.
[0143] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above-mentioned embodiments, a person skilled in the art should understand that the technical solutions described in the above-mentioned embodiments can still be modified, or some of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.
Claims
1. An anti-interference and anti-cheating method, characterized in that: include: Receive satellite signals; Determining the real-time relative position of the satellite corresponding to the satellite signal; Determining a target signal according to the real-time relative position and preset occlusion data; The target signal is a satellite signal corresponding to a satellite outside the shielding area; the shielding area is an area where the satellite is located when there is an obstruction on a straight line connecting path between the satellite and a preset local position.
2. The method according to claim 1, characterized in that Determining the real-time relative position of the satellite corresponding to the satellite signal includes: Calculating the real-time position of the satellite corresponding to the satellite signal; The real-time relative position of the satellite is determined based on the real-time true position and the preset local position.
3. The method according to claim 1, characterized in that: The method further comprises: Performing calculation processing based on the target signal to generate a processing result; The processing result includes positioning information and / or time information.
4. The method according to any one of claims 1 to 3, characterized in that: The occlusion data includes occlusion weights corresponding to each relative position; and determining the target signal according to the real-time relative position and the preset occlusion data includes: Determine the target occlusion weight corresponding to the real-time relative position; When the target occlusion weight is within a preset range, the satellite signal corresponding to the real-time relative position is determined to be a target signal.
5. The method according to claim 1, characterized in that Before receiving the satellite signal, the method further includes: Obtaining historical satellite signal statistical data; the historical satellite signal statistical data includes historical satellite signals; In the case where the historical satellite signal disappears, determining a relative position corresponding to the disappeared historical signal and a signal disappearance frequency corresponding to the relative position; Determine the occlusion weight according to the signal disappearance frequency at each relative position; Occlusion data is generated based on each relative position and its corresponding occlusion weight.
6. The method according to any one of claims 1 to 3, characterized in that: The real-time relative position includes real-time azimuth information and real-time elevation information.
7. The method according to any one of claims 1 to 3, characterized in that: The determining of the target signal according to the real-time relative position and the preset shielding data includes: Determine the relative position of the occlusion in the preset occlusion data; Determine that the satellite signal whose real-time relative position is inconsistent with the obstruction relative position is the target signal.
8. An anti-interference and anti-cheating device, characterized in that: include: A receiving module, used for receiving satellite signals; A real-time relative position determination module, used to determine the real-time relative position of the satellite corresponding to the satellite signal; A target signal determination module, used to determine the target signal according to the real-time relative position and preset occlusion data; The target signal is a satellite signal corresponding to a satellite outside the shielding area; the shielding area is an area where the satellite is located when there is an obstruction on a straight line connecting path between the satellite and a preset local position.
9. A receiver comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the anti-interference and anti-cheating method as described in any one of claims 1-7 is implemented.
10. A computer program product, characterized in that When the computer program product runs on a computer, the anti-interference and anti-cheating method according to any one of claims 1 to 7 is executed.