Coordinate processing method, device and equipment of terminal equipment and data security monitoring and processing system

Abstract

The embodiment of the invention provides a coordinate processing method, device and equipment of terminal equipment and a data security monitoring and processing system. The method comprises the following steps: receiving first transmission data sent by terminal equipment through a dedicated secure network channel; the first transmission data is data obtained by encrypting a first observation coordinate obtained by the terminal device; the first observation coordinate represents the coordinate of the terminal equipment; then, decrypting the first transmission data to obtain a first observation coordinate; performing coordinate deflection processing and high-precision difference processing on the first observation coordinate to obtain a second observation coordinate; encrypting the second observation coordinate to obtain second transmission data, and sending the second transmission data to the terminal equipment through the special secure network channel; wherein the second transmission data is used for obtaining a second observation coordinate after decryption, and the second observation coordinate is used for processing the task of the terminal equipment. The method is used for achieving the effect of safely, timely and effectively positioning the coordinates of the terminal equipment.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a coordinate processing method, device, equipment and data security monitoring and processing system for a terminal device. Background Art

[0002] In task scenarios such as navigation scenarios, engineering processing scenarios, and data processing of terminal devices, the terminal devices need to be located to complete the corresponding tasks.

[0003] Furthermore, there is an urgent need for a solution that can safely, timely and effectively locate the coordinates of terminal devices. Summary of the invention

[0004] The embodiments of the present application provide a coordinate processing method, apparatus, device and data security monitoring and processing system for a terminal device, so as to achieve the effect of safely, timely and effectively locating the coordinates of the terminal device.

[0005] In a first aspect, an embodiment of the present application provides a coordinate processing method of a terminal device, the method being applied to a server, the method comprising:

[0006] Receiving first transmission data sent by a terminal device through a dedicated secure network channel; wherein the first transmission data is data obtained by encrypting the first observation coordinates acquired by the terminal device; and the first observation coordinates represent the coordinates of the terminal device;

[0007] Decrypting the first transmission data to obtain the first observation coordinates; and performing positioning deflection processing on the first observation coordinates to obtain second observation coordinates;

[0008] The second observation coordinates are encrypted to obtain second transmission data, and the second transmission data is sent to the terminal device through the dedicated secure network channel; wherein the second transmission data is used to decrypt to obtain the second observation coordinates, and the second observation coordinates are used to process terminal device tasks.

[0009] In a possible implementation manner, the first transmission data further includes an encrypted public key of the terminal device, a first signature, an encrypted first key, and a second signature;

[0010] Among them, the encrypted public key of the terminal device is obtained by encrypting the public key of the terminal device based on the public key of the server; the first signature is obtained by encrypting the encrypted public key of the terminal device based on the private key of the terminal device; the encrypted first key is obtained by encrypting the first key generated by the terminal device based on the public key of the server; the second signature is obtained by encrypting the encrypted first key based on the private key of the terminal device.

[0011] In a possible implementation manner, decrypting the first transmission data to obtain the first observation coordinates includes:

[0012] If it is determined that the verification of the encrypted public key of the terminal device based on the first signature passes, then the encrypted first key is verified based on the second signature;

[0013] If it is determined that the verification of the encrypted first key based on the second signature is successful, the first transmission data is decrypted to obtain the first observation coordinates.

[0014] In a possible implementation, verifying the encrypted public key of the terminal device based on the first signature includes:

[0015] Decrypt the encrypted public key of the terminal device based on the private key of the server to obtain the public key of the terminal device;

[0016] Encrypting the decrypted public key of the terminal device based on the public key of the server to obtain first encrypted information;

[0017] Decrypting the first signature based on the decrypted public key of the terminal device to obtain the encrypted public key of the terminal device to be verified;

[0018] If it is determined that the first encrypted information is consistent with the public key of the encrypted terminal device to be verified, it is determined that the verification of the public key of the encrypted terminal device is successful.

[0019] In a possible implementation, verifying the encrypted first key based on the second signature includes:

[0020] Decrypting the encrypted first key based on the private key of the server to obtain the first key;

[0021] Encrypting the decrypted first key based on the public key of the server to obtain second encrypted information;

[0022] Decrypting the second signature based on the decrypted public key of the terminal device to obtain the encrypted first key to be verified;

[0023] If it is determined that the second encrypted information is consistent with the encrypted first key to be verified, it is determined that the verification of the encrypted first key is successful.

[0024] In a possible implementation, the first observation coordinates represent coordinates of the terminal device in a first coordinate system; the first coordinate system is a world geodetic coordinate system in a continuously operating reference station coordinate framework;

[0025] The second observation coordinates represent the coordinates of the terminal device in a second coordinate system; the second coordinate system is a world geodetic coordinate system in a target coordinate framework.

[0026] In a possible implementation manner, performing positioning deflection processing on the first observation coordinates to obtain second observation coordinates includes:

[0027] Performing projection transformation processing on the first observation coordinates to obtain third observation coordinates; wherein the third observation coordinates represent the coordinates of the terminal device in a third coordinate system; the third coordinate system is a spatial rectangular coordinate system in a continuously running reference station coordinate framework; determining the third observation coordinates as virtual reference station coordinates of a virtual reference station corresponding to the terminal device;

[0028] Deflecting the virtual reference station coordinates to obtain deflected virtual reference station coordinates; wherein the deflected virtual reference station coordinates are coordinates of the virtual reference station in a fourth coordinate system; the fourth coordinate system is a spatial rectangular coordinate system in a target coordinate frame;

[0029] Performing error correction processing on the deflected virtual reference station coordinates to obtain an initial offset; and adding the third observation coordinates and the initial offset to obtain a fourth observation coordinate; wherein the fourth observation coordinate represents the coordinates of the terminal device in the fourth coordinate system;

[0030] Performing projection transformation processing on the fourth observation coordinates to obtain the second observation coordinates.

[0031] In a possible implementation manner, performing deflection processing on the virtual reference station coordinates to obtain the deflected virtual reference station coordinates includes:

[0032] Generate a coordinate grid within a preset range of the terminal device. The coordinate grid includes a plurality of grid points; the grid points have first coordinates, and the first coordinates of the grid points represent the coordinates of the grid points in the first coordinate system;

[0033] Performing a projection transformation process on the first coordinates of the grid point to obtain a second coordinate of the grid point; wherein the second coordinate of the grid point represents the coordinate of the grid point in the third coordinate system; and performing a translation and rotation process on the second coordinate of the grid point to obtain a third coordinate of the grid point; wherein the third coordinate of the grid point represents the coordinate of the grid point in the fourth coordinate system;

[0034] Subtracting the second coordinate of the grid point from the third coordinate of the grid point to obtain a coordinate offset of the grid point; wherein the coordinate offset of the grid point represents an offset of the coordinate of the grid point from the third coordinate system to the fourth coordinate system;

[0035] The virtual reference station coordinates, the second coordinates of the grid points meeting the preset conditions, and the coordinate offsets of the grid points meeting the preset conditions are interpolated to obtain the coordinate offsets of the virtual reference station; wherein the coordinate offsets of the virtual reference station represent the offsets of the coordinates of the virtual reference station from the third coordinate system to the fourth coordinate system; and the preset conditions are the grid points that are closest to the virtual reference station coordinates;

[0036] The virtual reference station coordinates are added to the coordinate offset of the virtual reference station to obtain the deflected virtual reference station coordinates.

[0037] In a possible implementation manner, performing deflection processing on the virtual reference station coordinates to obtain the deflected virtual reference station coordinates includes:

[0038] Based on a preset deflection tool, the virtual reference station coordinates are deflected to obtain the deflected virtual reference station coordinates.

[0039] In a possible implementation manner, the first transmission data further includes first satellite observation data corresponding to the terminal device, where the first satellite observation data represents observation data collected when the satellite observes the terminal device; performing error correction processing on the deflected virtual reference station coordinates to obtain an initial offset includes:

[0040] Determining the first satellite observation data as initial observation data of a virtual reference station corresponding to the terminal device;

[0041] Acquire the real coordinates of the real reference station corresponding to the terminal device; wherein the real reference station coordinates represent the real coordinates of the real reference station in the first coordinate system; and perform projection transformation processing on the real reference station coordinates to obtain processed real reference station coordinates; wherein the processed real reference station coordinates represent the coordinates of the real reference station in the third coordinate system;

[0042] Acquire the acquisition coordinates and the second satellite observation data received by the real reference station; wherein the acquisition coordinates represent the observation coordinates of the real reference station in the first coordinate system; the second satellite observation data represent the observation data collected when the satellite observes the real reference station; and perform projection transformation processing on the acquisition coordinates to obtain processed acquisition coordinates, wherein the processed acquisition coordinates represent the coordinates of the real reference station in the third coordinate system;

[0043] Performing high-precision differential processing on the processed real reference station coordinates, the processed acquisition coordinates, and the second satellite observation data to obtain a coordinate offset of the real reference station; wherein the coordinate offset of the real reference station represents an offset of the coordinates of the real reference station from the processed acquisition coordinates to the real reference station coordinates;

[0044] The deflected virtual reference station coordinates, the initial observation data of the virtual reference station, the processed acquisition coordinates, the second satellite observation data, and the coordinate offset of the real reference station are subjected to high-precision differential processing to obtain the initial offset.

[0045] In a possible implementation manner, before receiving the first transmission data sent by the terminal device through the dedicated secure network channel, the method further includes:

[0046] Receiving a connection request sent by the terminal device; wherein the connection request represents a communication request to establish a dedicated secure network channel with the server; the connection request includes a user name and a password;

[0047] After determining that the user name and the password are authenticated, communication is established with the terminal device based on a dedicated secure network channel.

[0048] In a possible implementation manner, the second transmission data further includes an encrypted public key of the server, a third signature, an encrypted second key, and a fourth signature; and encrypting the second observation coordinates to obtain the second transmission data includes:

[0049] Encrypting the second observation coordinates based on the second key generated by the server to obtain encrypted second observation coordinates;

[0050] Encrypting the public key of the server based on the public key of the terminal device to obtain the encrypted public key of the server;

[0051] Encrypting the second key based on the public key of the terminal device to obtain the encrypted second key;

[0052] Encrypting the encrypted public key of the server based on the private key of the server to obtain the third signature;

[0053] Encrypting the encrypted second key based on the private key of the server to obtain the fourth signature;

[0054] The encrypted second observation coordinates, the encrypted server public key, the encrypted second key, the third signature, and the fourth signature are used as the second transmission data.

[0055] In a second aspect, an embodiment of the present application provides a coordinate processing method for a terminal device, the method being applied to the terminal device, the method comprising:

[0056] The first observation coordinates acquired by the terminal device are encrypted to obtain first transmission data; wherein the first observation coordinates represent the coordinates of the terminal device; and the first transmission data is sent to the server through a dedicated secure network channel; wherein the first transmission data is used to obtain the first observation coordinates after decryption, and the first observation coordinates are used to obtain the second observation coordinates after positioning deflection processing; and the second observation coordinates are used to obtain the second transmission data after being encrypted;

[0057] receiving the second transmission data sent by the server through the dedicated secure network channel; and decrypting the second transmission data to obtain the second observation coordinates;

[0058] Process the terminal device task according to the second observation coordinates.

[0059] In a possible implementation manner, the first transmission data further includes an encrypted public key of the terminal device, a first signature, an encrypted first key, and a second signature; encrypting the first observation coordinates acquired by the terminal device to obtain the first transmission data includes:

[0060] Encrypting the first observation coordinates based on the first key generated by the terminal device to obtain encrypted first observation coordinates;

[0061] Encrypting the public key of the terminal device based on the public key of the server to obtain the encrypted public key of the terminal device;

[0062] Encrypting the first key based on the public key of the server to obtain the encrypted first key;

[0063] Encrypting the encrypted public key of the terminal device based on the private key of the terminal device to obtain the first signature;

[0064] Encrypting the encrypted first key based on the private key of the terminal device to obtain the second signature;

[0065] The encrypted first observation coordinates, the encrypted public key of the terminal device, the encrypted first secret key, the first signature, and the second signature are used as the first transmission data.

[0066] In a possible implementation manner, the second transmission data further includes an encrypted public key of the server, a third signature, an encrypted second key, and a fourth signature;

[0067] Among them, the encrypted public key of the server is obtained by encrypting the public key of the server based on the public key of the terminal device; the third signature is obtained by encrypting the encrypted public key of the server based on the private key of the server; the encrypted second key is obtained by encrypting the second key generated by the server based on the public key of the terminal device; the fourth signature is obtained by encrypting the encrypted second key based on the private key of the server.

[0068] In a possible implementation manner, decrypting the second transmission data to obtain the second observation coordinates includes:

[0069] If it is determined that the verification of the encrypted server public key based on the third signature is successful, then the encrypted second key is verified based on the fourth signature;

[0070] If it is determined that the verification of the encrypted second key based on the fourth signature is successful, the second transmission data is decrypted to obtain the second observation coordinates.

[0071] In a possible implementation, verifying the encrypted public key of the server based on the third signature includes:

[0072] Decrypt the encrypted public key of the server based on the private key of the terminal device to obtain the public key of the server;

[0073] Encrypting the decrypted public key of the server based on the public key of the terminal device to obtain third encrypted information;

[0074] Decrypting the third signature based on the decrypted public key of the server to obtain the encrypted public key of the server to be verified;

[0075] If it is determined that the third encrypted information and the public key of the encrypted server to be verified are consistent, it is determined that the verification of the public key of the encrypted server is successful.

[0076] In a possible implementation, verifying the encrypted second key based on the fourth signature includes:

[0077] Decrypting the encrypted second key based on the private key of the terminal device to obtain the second key;

[0078] Encrypting the decrypted second key based on the public key of the terminal device to obtain fourth encrypted information;

[0079] Decrypting the fourth signature based on the decrypted public key of the server to obtain the encrypted second key to be verified;

[0080] If it is determined that the fourth encrypted information and the encrypted second key to be verified are consistent, it is determined that the verification of the encrypted second key is successful.

[0081] In a possible implementation, the first observation coordinates represent coordinates of the terminal device in a first coordinate system; the first coordinate system is a world geodetic coordinate system in a continuously operating reference station coordinate framework;

[0082] The second observation coordinates represent the coordinates of the terminal device in a second coordinate system; the second coordinate system is a world geodetic coordinate system in a target coordinate framework.

[0083] In a possible implementation manner, before sending the first transmission data to the server through the dedicated secure network channel, the method further includes:

[0084] Sending a connection request to the server; wherein the connection request represents a communication request to establish a dedicated secure network channel with the server; the connection request includes a user name and password;

[0085] After determining that the server has successfully authenticated the user and the password, communication is established with the server based on a dedicated secure network channel.

[0086] In a third aspect, an embodiment of the present application provides a coordinate processing device for a terminal device, the device being applied to a server, and the device comprising:

[0087] A receiving module, configured to receive first transmission data sent by a terminal device through a dedicated secure network channel; wherein the first transmission data is data obtained by encrypting the first observation coordinates acquired by the terminal device; and the first observation coordinates represent the coordinates of the terminal device;

[0088] A decryption module, used for decrypting the first transmission data to obtain the first observation coordinates;

[0089] A processing module, used for performing positioning and deflection processing on the first observation coordinates to obtain second observation coordinates;

[0090] An encryption module, used for encrypting the second observation coordinates to obtain second transmission data;

[0091] A sending module is used to send the second transmission data to the terminal device through the dedicated secure network channel; wherein the second transmission data is used to obtain the second observation coordinates after decryption, and the second observation coordinates are used to process terminal device tasks.

[0092] In a possible implementation manner, the first transmission data further includes an encrypted public key of the terminal device, a first signature, an encrypted first key, and a second signature;

[0093] Among them, the encrypted public key of the terminal device is obtained by encrypting the public key of the terminal device based on the public key of the server; the first signature is obtained by encrypting the encrypted public key of the terminal device based on the private key of the terminal device; the encrypted first key is obtained by encrypting the first key generated by the terminal device based on the public key of the server; the second signature is obtained by encrypting the encrypted first key based on the private key of the terminal device.

[0094] In a possible implementation, the decryption module is specifically used to:

[0095] If it is determined that the verification of the encrypted public key of the terminal device based on the first signature passes, then the encrypted first key is verified based on the second signature;

[0096] If it is determined that the verification of the encrypted first key based on the second signature is successful, the first transmission data is decrypted to obtain the first observation coordinates.

[0097] In a possible implementation manner, the “verifying the encrypted public key of the terminal device based on the first signature” in the decryption module is specifically used to:

[0098] Decrypt the encrypted public key of the terminal device based on the private key of the server to obtain the public key of the terminal device;

[0099] Encrypting the decrypted public key of the terminal device based on the public key of the server to obtain first encrypted information;

[0100] Decrypting the first signature based on the decrypted public key of the terminal device to obtain the encrypted public key of the terminal device to be verified;

[0101] If it is determined that the first encrypted information is consistent with the public key of the encrypted terminal device to be verified, it is determined that the verification of the public key of the encrypted terminal device is successful.

[0102] In a possible implementation manner, the “verifying the encrypted first key based on the second signature” in the decryption module is specifically used to:

[0103] Decrypting the encrypted first key based on the private key of the server to obtain the first key;

[0104] Encrypting the decrypted first key based on the public key of the server to obtain second encrypted information;

[0105] Decrypting the second signature based on the decrypted public key of the terminal device to obtain the encrypted first key to be verified;

[0106] If it is determined that the second encrypted information is consistent with the encrypted first key to be verified, it is determined that the verification of the encrypted first key is successful.

[0107] In a possible implementation, the first observation coordinates represent coordinates of the terminal device in a first coordinate system; the first coordinate system is a world geodetic coordinate system in a continuously operating reference station coordinate framework;

[0108] The second observation coordinates represent the coordinates of the terminal device in a second coordinate system; the second coordinate system is a world geodetic coordinate system in a target coordinate framework.

[0109] In a possible implementation manner, the processing module is specifically configured to:

[0110] Performing projection transformation processing on the first observation coordinates to obtain third observation coordinates; wherein the third observation coordinates represent the coordinates of the terminal device in a third coordinate system; the third coordinate system is a spatial rectangular coordinate system in a continuously running reference station coordinate framework; determining the third observation coordinates as virtual reference station coordinates of a virtual reference station corresponding to the terminal device;

[0111] Deflecting the virtual reference station coordinates to obtain deflected virtual reference station coordinates; wherein the deflected virtual reference station coordinates are coordinates of the virtual reference station in a fourth coordinate system; the fourth coordinate system is a spatial rectangular coordinate system in a target coordinate frame;

[0112] Performing error correction processing on the deflected virtual reference station coordinates to obtain an initial offset; and adding the third observation coordinates and the initial offset to obtain a fourth observation coordinate; wherein the fourth observation coordinate represents the coordinates of the terminal device in the fourth coordinate system;

[0113] Performing projection transformation processing on the fourth observation coordinates to obtain the second observation coordinates.

[0114] In a possible implementation manner, the “performing a deflection process on the virtual reference station coordinates to obtain deflected virtual reference station coordinates” in the processing module is specifically used to:

[0115] Generate a coordinate grid within a preset range of the terminal device. The coordinate grid includes a plurality of grid points; the grid points have first coordinates, and the first coordinates of the grid points represent the coordinates of the grid points in the first coordinate system;

[0116] Performing a projection transformation process on the first coordinates of the grid point to obtain a second coordinate of the grid point; wherein the second coordinate of the grid point represents the coordinate of the grid point in the third coordinate system; and performing a translation and rotation process on the second coordinate of the grid point to obtain a third coordinate of the grid point; wherein the third coordinate of the grid point represents the coordinate of the grid point in the fourth coordinate system;

[0117] Subtracting the second coordinate of the grid point from the third coordinate of the grid point to obtain a coordinate offset of the grid point; wherein the coordinate offset of the grid point represents an offset of the coordinate of the grid point from the third coordinate system to the fourth coordinate system;

[0118] The virtual reference station coordinates, the second coordinates of the grid points meeting the preset conditions, and the coordinate offsets of the grid points meeting the preset conditions are interpolated to obtain the coordinate offsets of the virtual reference station; wherein the coordinate offsets of the virtual reference station represent the offsets of the coordinates of the virtual reference station from the third coordinate system to the fourth coordinate system; and the preset conditions are the grid points that are closest to the virtual reference station coordinates;

[0119] The virtual reference station coordinates are added to the coordinate offset of the virtual reference station to obtain the deflected virtual reference station coordinates.

[0120] In a possible implementation manner, the “performing a deflection process on the virtual reference station coordinates to obtain deflected virtual reference station coordinates” in the processing module is specifically used to:

[0121] Based on a preset deflection tool, the virtual reference station coordinates are deflected to obtain the deflected virtual reference station coordinates.

[0122] In a possible implementation manner, the first transmission data also includes first satellite observation data corresponding to the terminal device, where the first satellite observation data represents observation data collected when the satellite observes the terminal device; and the “performing error correction processing on the deflected virtual reference station coordinates to obtain an initial offset” in the processing module is specifically used to:

[0123] Determining the first satellite observation data as initial observation data of a virtual reference station corresponding to the terminal device;

[0124] Acquire the real coordinates of the real reference station corresponding to the terminal device; wherein the real reference station coordinates represent the real coordinates of the real reference station in the first coordinate system; and perform projection transformation processing on the real reference station coordinates to obtain processed real reference station coordinates; wherein the processed real reference station coordinates represent the coordinates of the real reference station in the third coordinate system;

[0125] Acquire the acquisition coordinates and the second satellite observation data received by the real reference station; wherein the acquisition coordinates represent the observation coordinates of the real reference station in the first coordinate system; the second satellite observation data represent the observation data collected when the satellite observes the real reference station; and perform projection transformation processing on the acquisition coordinates to obtain processed acquisition coordinates, wherein the processed acquisition coordinates represent the coordinates of the real reference station in the third coordinate system;

[0126] Performing high-precision differential processing on the processed real reference station coordinates, the processed acquisition coordinates, and the second satellite observation data to obtain a coordinate offset of the real reference station; wherein the coordinate offset of the real reference station represents an offset of the coordinates of the real reference station from the processed acquisition coordinates to the real reference station coordinates;

[0127] The deflected virtual reference station coordinates, the initial observation data of the virtual reference station, the processed acquisition coordinates, the second satellite observation data, and the coordinate offset of the real reference station are subjected to high-precision differential processing to obtain the initial offset.

[0128] In a possible implementation manner, before the receiving module, it is further used to:

[0129] Receiving a connection request sent by the terminal device; wherein the connection request represents a communication request to establish a dedicated secure network channel with the server; the connection request includes a user name and a password;

[0130] After determining that the user name and the password are authenticated, communication is established with the terminal device based on a dedicated secure network channel.

[0131] In a possible implementation manner, the second transmission data further includes an encrypted public key of the server, a third signature, an encrypted second key, and a fourth signature; and the encryption module is specifically configured to:

[0132] Encrypting the second observation coordinates based on the second key generated by the server to obtain encrypted second observation coordinates;

[0133] Encrypting the public key of the server based on the public key of the terminal device to obtain the encrypted public key of the server;

[0134] Encrypting the second key based on the public key of the terminal device to obtain the encrypted second key;

[0135] Encrypting the encrypted public key of the server based on the private key of the server to obtain the third signature;

[0136] Encrypting the encrypted second key based on the private key of the server to obtain the fourth signature;

[0137] The encrypted second observation coordinates, the encrypted server public key, the encrypted second key, the third signature, and the fourth signature are used as the second transmission data.

[0138] In a fourth aspect, an embodiment of the present application provides a coordinate processing device of a terminal device, the device is applied to the terminal device, and the device includes:

[0139] An encryption module, used to encrypt the first observation coordinates acquired by the terminal device to obtain first transmission data; wherein the first observation coordinates represent the coordinates of the terminal device;

[0140] A sending module, used to send the first transmission data to a server through a dedicated secure network channel; wherein the first transmission data is used to obtain the first observation coordinates after decryption, the first observation coordinates are used to obtain the second observation coordinates after positioning deflection processing; the second observation coordinates are used to obtain the second transmission data after being encrypted;

[0141] A receiving module, used for receiving the second transmission data sent by the server through the dedicated secure network channel;

[0142] A decryption module, used for decrypting the second transmission data to obtain the second observation coordinates;

[0143] A processing module is used to process the terminal device task according to the second observation coordinates.

[0144] In a possible implementation manner, the first transmission data further includes an encrypted public key of the terminal device, a first signature, an encrypted first key, and a second signature; and the encryption module is specifically configured to:

[0145] Encrypting the first observation coordinates based on the first key generated by the terminal device to obtain encrypted first observation coordinates;

[0146] Encrypting the public key of the terminal device based on the public key of the server to obtain the encrypted public key of the terminal device;

[0147] Encrypting the first key based on the public key of the server to obtain the encrypted first key;

[0148] Encrypting the encrypted public key of the terminal device based on the private key of the terminal device to obtain the first signature;

[0149] Encrypting the encrypted first key based on the private key of the terminal device to obtain the second signature;

[0150] The encrypted first observation coordinates, the encrypted public key of the terminal device, the encrypted first secret key, the first signature, and the second signature are used as the first transmission data.

[0151] In a possible implementation manner, the second transmission data further includes an encrypted public key of the server, a third signature, an encrypted second key, and a fourth signature;

[0152] Among them, the encrypted public key of the server is obtained by encrypting the public key of the server based on the public key of the terminal device; the third signature is obtained by encrypting the encrypted public key of the server based on the private key of the server; the encrypted second key is obtained by encrypting the second key generated by the server based on the public key of the terminal device; the fourth signature is obtained by encrypting the encrypted second key based on the private key of the server.

[0153] In a possible implementation, the decryption module is specifically used to:

[0154] If it is determined that the verification of the encrypted server public key based on the third signature is successful, then the encrypted second key is verified based on the fourth signature;

[0155] If it is determined that the verification of the encrypted second key based on the fourth signature is successful, the second transmission data is decrypted to obtain the second observation coordinates.

[0156] In a possible implementation manner, the “verifying the encrypted public key of the server based on the third signature” in the decryption module is specifically used to:

[0157] Decrypt the encrypted public key of the server based on the private key of the terminal device to obtain the public key of the server;

[0158] Encrypting the decrypted public key of the server based on the public key of the terminal device to obtain third encrypted information;

[0159] Decrypting the third signature based on the decrypted public key of the server to obtain the encrypted public key of the server to be verified;

[0160] If it is determined that the third encrypted information and the public key of the encrypted server to be verified are consistent, it is determined that the verification of the public key of the encrypted server is successful.

[0161] In a possible implementation manner, the “verifying the encrypted second key based on the fourth signature” in the decryption module is specifically used to:

[0162] Decrypting the encrypted second key based on the private key of the terminal device to obtain the second key;

[0163] Encrypting the decrypted second key based on the public key of the terminal device to obtain fourth encrypted information;

[0164] Decrypting the fourth signature based on the decrypted public key of the server to obtain the encrypted second key to be verified;

[0165] If it is determined that the fourth encrypted information and the encrypted second key to be verified are consistent, it is determined that the verification of the encrypted second key is successful.

[0166] In a possible implementation, the first observation coordinates represent coordinates of the terminal device in a first coordinate system; the first coordinate system is a world geodetic coordinate system in a continuously operating reference station coordinate framework;

[0167] The second observation coordinates represent the coordinates of the terminal device in a second coordinate system; the second coordinate system is a world geodetic coordinate system in a target coordinate framework.

[0168] In a possible implementation manner, before the sending module, it is also used to:

[0169] Sending a connection request to the server; wherein the connection request represents a communication request to establish a dedicated secure network channel with the server; the connection request includes a user name and password;

[0170] After determining that the server has successfully authenticated the user and the password, communication is established with the server based on a dedicated secure network channel.

[0171] In a fifth aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0172] The memory stores computer-executable instructions;

[0173] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the first aspect and / or various possible implementations of the first aspect, or the processor executes the second aspect and / or various possible implementations of the second aspect. The electronic device may be the server or the terminal device.

[0174] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer execution instructions are stored. When the computer execution instructions are executed by a processor of a server, they are used to implement the first aspect and / or various possible implementation methods of the first aspect as described above, or, when the computer execution instructions are executed by a processor of a terminal device, they are used to implement the second aspect or any implementation method of the second aspect.

[0175] In the seventh aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor of a server, implements the first aspect above and / or various possible implementation methods of the first aspect, or, when the computer program is executed by a processor of a terminal device, implements the second aspect above and / or various possible implementation methods of the second aspect.

[0176] In an eighth aspect, an embodiment of the present application provides a data security monitoring and processing system, the system comprising a server and a terminal device; wherein the server is used to implement the first aspect or any one of the implementations of the first aspect, and the terminal device is used to implement the second aspect or any one of the implementations of the second aspect. The server is also used to perform risk monitoring processing on the data transmitted between the terminal device and the server.

[0177] The coordinate processing method, device, equipment and data security monitoring and processing system of the terminal device provided in the embodiments of the present application receive the first transmission data sent by the terminal device through a dedicated secure network channel; wherein the first transmission data is the data obtained after encrypting the first observation coordinates acquired by the terminal device; the first observation coordinates represent the coordinates of the terminal device; then, the first transmission data is decrypted to obtain the first observation coordinates; and the first observation coordinates are subjected to coordinate deflection processing and high-precision differential processing to obtain the second observation coordinates; thereafter, the second observation coordinates are encrypted to obtain the second transmission data, and the second transmission data is sent to the terminal device through a dedicated secure network channel; wherein the second transmission data is used to obtain the second observation coordinates after decryption, and the second observation coordinates are used to process the terminal device task.

[0178] Since the first observation coordinates and the second observation coordinates transmitted between the terminal device and the server are encrypted first and then transmitted through a dedicated secure network channel, they are all transmitted in ciphertext, which is highly secure. In addition, the coordinate deflection processing of the terminal device is performed on the server, which saves the time of pre-installing or updating the deflection tool on the terminal device, and thus can achieve safe, timely and effective high-precision positioning of the coordinates of the terminal device. BRIEF DESCRIPTION OF THE DRAWINGS

[0179] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0180] Figure 1 A schematic diagram of a system architecture corresponding to a coordinate processing method of a terminal device in the related art provided in this application;

[0181] Figure 2 A schematic diagram of the system architecture corresponding to the coordinate processing method of the terminal device provided in this application;

[0182] Figure 3 A schematic diagram of a flow chart of a coordinate processing method of a terminal device provided in this application;

[0183] Figure 4 A schematic diagram of a flow chart of another coordinate processing method of a terminal device provided by the present application;

[0184] Figure 5 A schematic diagram of the coordinate grid provided for this application;

[0185] Figure 6 A schematic diagram of a flow chart of a coordinate processing method of another terminal device provided by the present application;

[0186] Figure 7 A schematic diagram of the structure of a coordinate processing device for a terminal device applied to a server provided in the present application;

[0187] Figure 8 A schematic diagram of the structure of a coordinate processing device for a terminal device provided by the present application and applied to a terminal device;

[0188] Fig. 9 A schematic diagram of the structure of a server provided for this application;

[0189] Fig.10 A schematic diagram of the structure of a terminal device provided for this application.

[0190] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0191] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0192] In many application scenarios, the location information of terminal devices is crucial. For example, in navigation application scenarios, high-precision location information of terminal devices (such as smartphones and car navigation systems) is needed for route planning, real-time navigation, and traffic status updates; in engineering processing application scenarios, high-precision location information of buildings measured by terminal devices (such as total stations) is needed to correctly place reinforced concrete structures, etc. At the same time, for safety reasons, the preset requirements cannot directly use real coordinates.

[0193] Figure 1 A schematic diagram of the system architecture corresponding to the coordinate processing method of the terminal device in the related technology provided by this application, such as Figure 1 As shown, the system architecture diagram includes: a server 101, a terminal device 102, and several real reference stations (for example, including but not limited to Figure 1 103, real reference station 104, etc. shown in the figure).

[0194] The real coordinates of each real reference station are pre-stored in the server 101. A deflection tool is installed on the terminal device 102 for translating and rotating the coordinates of the terminal device 102. A Global Navigation Satellite System (GNSS) receiver is installed on each real reference station and the terminal device 102, and observation data can be obtained respectively, wherein the observation data is the observation information of the satellite on each real reference station or the terminal device 102, including the initial coordinates of each real reference station or the terminal device 102, and other satellite observation information.

[0195] In one example, the terminal device 102 may be a vehicle that requires a high-precision map navigation application, and the terminal device 102 may send the acquired observation data of the terminal device 102 to the server 101 in real time. Figure 1The several real reference stations in the system can send the acquired observation data of each real reference station to the server 101 at preset intervals. The server 101 can determine that the observation data of the terminal device 102 is the observation data of the virtual reference station corresponding to the terminal device 102, wherein the observation data of the virtual reference station includes the coordinates of the virtual reference station.

[0196] Afterwards, the server 101 can input the real coordinates of each real reference station, the latest observation data of each real reference station, and the observation data of the virtual reference station into a preset error model for high-precision differential processing, obtain the error correction number of the virtual reference station and send it to the terminal device 102.

[0197] After receiving the error correction number of the virtual reference station, the terminal device 102 adds the initial coordinates in the observation data of the terminal device 102 and the error correction number of the virtual reference station to obtain the high-precision coordinates of the terminal device 102. Next, the terminal device 102 deflects the high-precision coordinates of the terminal device 102 based on the deflection tool to obtain the deflected high-precision coordinates of the terminal device 102. Then, the terminal device 102 can combine the deflected high-precision coordinates and the deflected high-precision map pre-stored on the terminal device 102 to perform high-precision map navigation.

[0198] However, in the above method, since the data transmission between the terminal device 102 and the server 101 is in plain text, and the terminal device must apply to the geographic information security authority to pre-install or update the deflection tool, there are technical problems of low security and long time consumption when performing real-time high-precision positioning of the coordinates of the terminal device.

[0199] The coordinate processing method of the terminal device provided in the present application is that the server receives the encrypted initial coordinates of the terminal device and decrypts the initial coordinates of the terminal device. Then, the initial coordinates of the terminal device are deflected and processed with high precision difference to obtain the high precision coordinates of the terminal device after deflection, and sent to the terminal device for the terminal device to process the terminal device task according to the high precision coordinates after deflection. Since the data transmission between the terminal device and the server is encrypted, and the terminal device does not need to pre-install or update the deflection tool, it can solve the technical problems of low security and long time consumption when performing real-time high precision positioning of the coordinates of the terminal device.

[0200] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0201] Figure 2A schematic diagram of the system architecture corresponding to the coordinate processing method of the terminal device provided in this application, such as Figure 2 As shown, the system architecture diagram includes: a server 201, a terminal device 202, and several real reference stations (for example, including but not limited to Figure 2 203, real reference station 204, etc. shown in the figure).

[0202] The server 201 pre-stores the real coordinates of each real reference station, which can be obtained through multiple observations and verifications. This embodiment does not limit the method for obtaining the real coordinates of each real reference station.

[0203] A GNSS receiver is installed on the terminal device 202, through which the first observation coordinates and the first satellite observation data can be obtained every N1 seconds (N1 is a number greater than 1, and this embodiment does not impose a limitation on this); wherein the first observation coordinates are the coordinates of the terminal device 202 observed by the satellite received by the GNSS receiver. Since errors will occur in the transmission process of the satellite signal (for example, errors will occur when the satellite signal penetrates the ionosphere and troposphere, errors will also be caused by the Doppler effect generated by the high-speed movement of the satellite, as well as multipath effect errors, channel errors, satellite clock errors, ephemeris errors, internal noise errors, etc.), therefore, the first observation coordinates will have certain errors; the first satellite observation data are other data of the terminal device 202 observed by the satellite received by the GNSS receiver, such as world time, positioning status, number of satellites in use, HDOP-horizontal precision factor, altitude, altitude unit, geoid height anomaly interpolation, altitude unit, pseudorange, carrier phase, satellite signal quality (for example, signal-to-noise ratio), ionosphere and troposphere delay parameter information, multipath effect information, weather data, etc.

[0204] A GNSS receiver is also installed on each real reference station, through which the acquisition coordinates and the second satellite observation data can be obtained every N2 seconds (N2 is a number greater than 1, N1 and N2 can be the same or different, and this embodiment does not impose any restrictions on this); wherein the acquisition coordinates are the coordinates of the real reference station observed by the satellite received by the GNSS receiver. Since errors will occur in the transmission process of satellite signals (for example, errors will occur when satellite signals penetrate the ionosphere and troposphere, errors will also be caused by the Doppler effect caused by the high-speed movement of satellites, as well as multipath effect errors, channel errors, satellite clock errors, ephemeris errors, internal noise errors, etc.), the acquisition coordinates will have certain errors; the second satellite observation data are other data of the real reference station observed by the satellite received by the GNSS receiver, such as world time, positioning status, number of satellites in use, HDOP-horizontal precision factor, altitude, altitude unit, geoid height anomaly interpolation, altitude unit, pseudorange, carrier phase, satellite signal quality (for example, signal-to-noise ratio), ionosphere and troposphere delay parameter information, multipath effect information, weather data, etc.

[0205] The GNSS mentioned in this embodiment may be, for example, a global positioning system (GPS), a Galileo global navigation satellite system (Galileo Global Navigation Satellite System), or a BeiDou satellite navigation system. Different real reference stations and terminal devices 202 may use the same GNSS or different GNSS, or may partially use the same GNSS and partially use different GNSS.

[0206] In one example, the terminal device 202 may be a vehicle that needs to perform high-precision map navigation applications. The terminal device 202 may encrypt the first observation coordinates and the first satellite observation data obtained in real time to obtain first transmission data, and send the first transmission data to the server 201 through a dedicated secure network channel. A dedicated secure network channel is a network technology that allows users to establish a secure, encrypted communication channel through a public network (such as the Internet). The data transmitted through the communication channel can be protected by encryption technology to ensure that the data is not leaked or tampered with during the transmission process, and that only authorized users can access the dedicated secure network channel. For example, a virtual private network (VPN).

[0207] After receiving the first transmission data, the server 201 can decrypt it to obtain the first observation coordinates and the first satellite observation data; and according to the first satellite observation data, the acquisition coordinates of each real reference station, the second satellite observation data of each real reference station, and the real coordinates of each real reference station, the first observation coordinates are positioned and deflected to obtain the second observation coordinates. Among them, the second observation coordinates are the high-precision coordinates after deflection of the terminal device 202. Then, the second observation coordinates are encrypted to obtain the second transmission data, and sent to the terminal device 202 through a dedicated secure network channel.

[0208] After receiving the second transmission data, the terminal device 202 may decrypt the second transmission data to obtain the second observation coordinates. Furthermore, the terminal device 202 may combine the second observation coordinates and the deflected high-precision map pre-stored on the terminal device 202 to perform the terminal device task of high-precision map navigation.

[0209] The above introduction is an implementation method for obtaining the second observation coordinates of the terminal device (i.e., the high-precision coordinates after deflection) in the high-precision map navigation scenario. It can be understood that in scenarios such as engineering processing, drone task processing, and robot task processing, the implementation method for obtaining the high-precision coordinates of the terminal device after deflection is also the same, except that the subsequent terminal device can process different terminal device tasks based on the high-precision coordinates after deflection (for example, the drone can process terminal device tasks such as transportation or patrolling based on the high-precision coordinates after deflection). This embodiment will not introduce the remaining scenarios in detail, and its implementation method is similar to the implementation method of obtaining the second observation coordinates of the terminal device in the high-precision map navigation scenario introduced above.

[0210] Figure 3 A schematic diagram of a flow chart of a coordinate processing method of a terminal device provided in this application, such as Figure 3 As shown, the method includes:

[0211] S301. Receive first transmission data sent by a terminal device through a dedicated secure network channel; wherein the first transmission data is data obtained by encrypting first observation coordinates acquired by the terminal device; and the first observation coordinates represent coordinates of the terminal device.

[0212] Exemplarily, the execution subject of this embodiment can be a server, a distributed system, a terminal device, other electronic equipment / computer equipment, or any other device or equipment that can implement the solution of this application, without limitation. Among them, the server can be an independent server, or a server cluster, such as but not limited to any form including a cloud server, a distributed server, a blockchain server, an Internet of Things server, a smart driving platform connected to a car system, etc.

[0213] This embodiment is introduced with the execution subject being a server.

[0214] For example, the terminal device can obtain the first observation coordinates once every N1 seconds through the GNSS receiver (N1 is a number greater than 1, which is not limited in this embodiment), wherein the meanings of GNSS and the first observation coordinates are as follows: Figure 2 The description of the embodiment is not repeated here. Afterwards, the terminal device can encrypt the first observation coordinates based on a preset cryptographic algorithm (such as SM4 and SM9 algorithms, or Advanced Encryption Standard (AES) and pairing-based cryptography (PBC), etc.) to obtain the first transmission data. The first transmission data is sent to the server through a dedicated secure network channel. The meaning of the dedicated secure network channel is as follows. Figure 2 The description of the embodiments will not be repeated here.

[0215] In this application, there is no restriction on the preset cryptographic algorithm used by the terminal device or server in each step of each embodiment, as long as encryption and decryption can be achieved. In this application, each embodiment is introduced using SM4 and SM9 algorithms as examples of the preset cryptographic algorithms used by the terminal device or server.

[0216] S302: Decrypt the first transmission data to obtain first observation coordinates.

[0217] Exemplarily, after receiving the first transmission data sent by the terminal device through the dedicated secure network channel, the server can decrypt the first transmission data based on the SM4 and SM9 algorithms to obtain the first observation coordinates.

[0218] S303: Perform positioning and deflection processing on the first observation coordinates to obtain second observation coordinates.

[0219] Exemplarily, after obtaining the first observation coordinates, the server may perform positioning deflection processing on the first observation coordinates to obtain the second observation coordinates. The positioning deflection processing includes high-precision differential processing and coordinate deflection processing. For example, high-precision differential processing may use carrier phase differential technology (Real-Time Kinematic, RTK for short). Based on RTK, it is possible to eliminate the transmission error of the satellite signal in the first observation coordinates, and then after performing high-precision differential processing on the first observation coordinates, high-precision coordinates may be obtained. For example, the coordinate deflection processing may be performed by processing the first observation coordinates with a predefined grid correction number to realize coordinate deflection, so that there is a certain deviation between the first observation coordinates after the coordinate deflection processing and the actual coordinates, so as to meet the preset requirements (for example, public use of the real coordinates is not allowed). Therefore, the first observation coordinates are positioned and deflected, and the second observation coordinates obtained are the high-precision coordinates after the terminal device is deflected.

[0220] S304: Encrypt the second observation coordinates to obtain second transmission data.

[0221] Exemplarily, after obtaining the second observation coordinates, the server may encrypt the second observation coordinates based on SM4 and SM9 algorithms to obtain second transmission data.

[0222] S305. Send the second transmission data to the terminal device through a dedicated secure network channel; wherein the second transmission data is used to obtain second observation coordinates after decryption, and the second observation coordinates are used to process the terminal device task.

[0223] For example, after obtaining the second transmission data, the server may send the second transmission data to the terminal device through a dedicated secure network channel. The meaning of the dedicated secure network channel is as follows: Figure 2 The description of the embodiments will not be repeated here.

[0224] After receiving the second transmission data through the dedicated secure network channel, the terminal device can decrypt the second transmission data based on the SM4 and SM9 algorithms to obtain the second observation coordinates, and process the terminal device task according to the second observation coordinates. Figure 2 The description of the embodiments will not be repeated here.

[0225] The coordinate processing method of a terminal device provided in an embodiment of the present application is by receiving first transmission data sent by the terminal device through a dedicated secure network channel; wherein the first transmission data is data obtained after encrypting the first observation coordinates acquired by the terminal device; the first observation coordinates represent the coordinates of the terminal device; then, the first transmission data is decrypted to obtain the first observation coordinates; and the first observation coordinates are subjected to coordinate deflection processing and high-precision differential processing to obtain the second observation coordinates; thereafter, the second observation coordinates are encrypted to obtain the second transmission data, and the second transmission data is sent to the terminal device through a dedicated secure network channel; wherein the second transmission data is used to obtain the second observation coordinates after decryption, and the second observation coordinates are used to process the terminal device task.

[0226] Since the first observation coordinates and the second observation coordinates transmitted between the terminal device and the server are encrypted first and then transmitted through a dedicated secure network channel, they are all transmitted in ciphertext, which is highly secure. In addition, the coordinate deflection processing of the terminal device is performed on the server, which saves the time of pre-installing or updating the deflection tool on the terminal device, and thus can achieve safe, timely and effective high-precision positioning of the coordinates of the terminal device.

[0227] Figure 4 A flow chart of another coordinate processing method for a terminal device provided in this application, such as Figure 4 As shown, in this embodiment Figure 3 Based on the embodiment, a coordinate processing method of a terminal device is described in detail, and the method includes:

[0228] S401. Receive first transmission data sent by a terminal device through a dedicated secure network channel; wherein the first transmission data is data obtained by encrypting first observation coordinates acquired by the terminal device; and the first observation coordinates represent coordinates of the terminal device.

[0229] Exemplarily, the execution subject of this embodiment can be a server, a distributed system, a terminal device, other electronic equipment / computer equipment, or any other device or equipment that can implement the solution of this application, without limitation. Among them, the server can be an independent server, or a server cluster, such as but not limited to any form including a cloud server, a distributed server, a blockchain server, an Internet of Things server, a smart driving platform connected to a car system, etc.

[0230] This embodiment is introduced with the execution subject being a server.

[0231] In one example, step S401 includes the following steps:

[0232] The first step of step S401: the terminal device encrypts the acquired first observation coordinates to obtain first transmission data; wherein the first observation coordinates represent the coordinates of the terminal device. The first transmission data also includes the encrypted public key of the terminal device, the first signature, the encrypted first key, and the second signature.

[0233] The second step of step S401: receiving a connection request sent by the terminal device; wherein the connection request represents a communication request to establish a dedicated secure network channel with the server; the connection request includes a user name and a password.

[0234] The third step of step S401: after determining that the user name and password are verified, establish communication with the terminal device based on a dedicated secure network channel.

[0235] The fourth step of step S401: receiving the first transmission data sent by the terminal device through the dedicated secure network channel.

[0236] Exemplarily, the first step of step S401 includes the following process:

[0237] The terminal device can obtain the first observation coordinates once every N1 seconds through the GNSS receiver (N1 is a number greater than 1, and this embodiment does not impose a limitation on this).

[0238] The terminal device may, for example, generate a 128-bit random number based on a random number generator (RNG) as the first key.

[0239] The terminal device encrypts the newly acquired first observation coordinates based on the SM4 algorithm and the first key to obtain the encrypted first observation coordinates.

[0240] The terminal device encrypts the public key of the terminal device based on the SM9 algorithm and the public key of the server to obtain the encrypted public key of the terminal device; wherein the public key of the server and the public key of the terminal device may be pre-stored on the terminal device, for example.

[0241] The terminal device encrypts the first key based on the SM9 algorithm and the public key of the server to obtain an encrypted first key;

[0242] The terminal device encrypts the encrypted public key of the terminal device based on the SM9 algorithm and the private key of the terminal device to obtain a first signature; wherein the private key of the terminal device may be pre-stored on the terminal device, for example.

[0243] The terminal device encrypts the encrypted first key based on the SM9 algorithm and the private key of the terminal device to obtain a second signature;

[0244] The encrypted first observation coordinates, the encrypted public key of the terminal device, the encrypted first secret key, the first signature, and the second signature are used as the first transmission data.

[0245] Exemplarily, the second step and the third step of step S401 include the following processes:

[0246] After receiving the first transmission data, the terminal device may send a connection request to the server; wherein the connection request represents a communication request to establish a dedicated secure network channel with the server; the connection request includes a user name and a password; wherein the meaning of the dedicated secure network channel is as follows Figure 2 The description in the embodiments will not be repeated here.

[0247] If the server determines that the username and password in the connection request sent by the terminal device matches a pair of username and password pre-stored on the server, the verification is successful, and then communication is established with the terminal device based on a dedicated secure network channel.

[0248] It is worth noting that after the server and the terminal device establish communication based on the dedicated secure network channel, if no communication disconnection instruction is received (for example, the user inputs the communication disconnection instruction on the terminal device, or the connection timeout triggers the communication disconnection instruction, etc.), the communication between the server and the terminal device based on the dedicated secure network channel will remain in a connected state, and there is no need to re-establish communication between the server and the terminal device when transmitting data next time. If the communication has been disconnected, it is necessary to re-establish communication according to the second and third steps of step S401.

[0249] Exemplarily, the fourth step of step S401 includes the following process:

[0250] After the terminal device establishes communication with the server based on the dedicated secure network channel, the terminal device can first encapsulate the first transmission data to obtain a tunnel data packet of the first transmission data, wherein the tunnel data packet includes the first transmission data, the IP address of the terminal device, and the IP address of the server, etc. Then, the terminal device sends the tunnel data packet of the first transmission data to the server through a public network (such as the Internet).

[0251] After receiving the tunnel data packet of the first transmission data, the server extracts the first transmission data from the tunnel data packet of the first transmission data.

[0252] S402: Decrypt the first transmission data to obtain first observation coordinates.

[0253] In one example, the first transmission data also includes an encrypted public key of a terminal device, a first signature, an encrypted first secret key, and a second signature; wherein the encrypted public key of the terminal device is obtained by encrypting the public key of the terminal device based on the public key of the server; the first signature is obtained by encrypting the encrypted public key of the terminal device based on the private key of the terminal device; the encrypted first secret key is obtained by encrypting the first secret key generated by the terminal device based on the public key of the server; and the second signature is obtained by encrypting the encrypted first secret key based on the private key of the terminal device.

[0254] In one example, step S402 includes the following steps:

[0255] The first step of step S402: if it is determined that the verification of the encrypted public key of the terminal device based on the first signature is successful, the encrypted first key is verified based on the second signature.

[0256] In one example, the first step of step S402, “verifying the public key of the encrypted terminal device based on the first signature”, includes the following process:

[0257] Decrypt the encrypted public key of the terminal device based on the private key of the server to obtain the public key of the terminal device;

[0258] Encrypting the decrypted public key of the terminal device based on the public key of the server to obtain first encrypted information;

[0259] Decrypting the first signature based on the decrypted public key of the terminal device to obtain the encrypted public key of the terminal device to be verified;

[0260] If it is determined that the first encrypted information and the public key of the encrypted terminal device to be verified are consistent, it is determined that the verification of the public key of the encrypted terminal device is successful.

[0261] The second step of step S402: if it is determined that the verification of the encrypted first key based on the second signature is successful, the first transmission data is decrypted to obtain the first observation coordinates.

[0262] In one example, the second step of step S402, “verifying the encrypted first key based on the second signature”, includes the following process:

[0263] Decrypting the encrypted first key based on the private key of the server to obtain the first key;

[0264] Encrypting the decrypted first key based on the public key of the server to obtain second encrypted information;

[0265] Decrypting the second signature based on the decrypted public key of the terminal device to obtain the encrypted first key to be verified;

[0266] If it is determined that the second encrypted information is consistent with the encrypted first key to be verified, it is determined that the verification of the encrypted first key is successful.

[0267] Exemplarily, after obtaining the first transmission data, the server may decrypt the first transmission data to obtain the first observation coordinates.

[0268] For example, the first step of step S402 includes the following process:

[0269] The server decrypts the encrypted public key of the terminal device based on the SM9 algorithm and the server's private key to obtain the public key of the terminal device; wherein the server's private key can, for example, be pre-stored in the server.

[0270] The server encrypts the decrypted public key of the terminal device based on the SM9 algorithm and the public key of the server to obtain the first encrypted information; wherein the public key of the server can, for example, be pre-stored in the server.

[0271] The server decrypts the first signature based on the SM9 algorithm and the decrypted public key of the terminal device to obtain the encrypted public key of the terminal device to be verified;

[0272] If it is determined that the first encrypted information and the public key of the encrypted terminal device to be verified are consistent, it is determined that the verification of the public key of the encrypted terminal device is successful.

[0273] For example, the second step of step S402 includes the following process:

[0274] After the server determines that the encrypted public key of the terminal device has been verified, the encrypted first key is decrypted based on the SM9 algorithm and the private key of the server to obtain the first key;

[0275] The server encrypts the decrypted first key based on the SM9 algorithm and the public key of the server to obtain second encrypted information;

[0276] The server decrypts the second signature based on the SM9 algorithm and the public key of the terminal device decrypted in the first step of step S402 to obtain the encrypted first key to be verified;

[0277] If the server determines that the second encrypted information is consistent with the encrypted first key to be verified, it determines that the verification of the encrypted first key is successful.

[0278] The server decrypts the first transmission data based on the SM4 algorithm and the decrypted first key to obtain the first observation coordinates.

[0279] S403: Perform projection transformation processing on the first observation coordinates to obtain third observation coordinates, and determine the third observation coordinates as virtual reference station coordinates of the virtual reference station corresponding to the terminal device.

[0280] Among them, the third observation coordinates represent the coordinates of the terminal device in the third coordinate system; the third coordinate system is a spatial rectangular coordinate system in the coordinate framework of the continuously running reference station.

[0281] In one example, the first observation coordinates represent the coordinates of the terminal device in a first coordinate system; the first coordinate system is a world geodetic coordinate system in a continuously operating reference station coordinate frame.

[0282] Exemplarily, after obtaining the first observation coordinates, the server can perform projection transformation processing on the first observation coordinates based on the preset first projection transformation formula to obtain the third observation coordinates in order to facilitate the subsequent calculation of coordinate deflection processing and satellite transmission error correction processing. The third observation coordinates are used as the virtual reference station coordinates of the virtual reference station corresponding to the terminal device. The purpose of such processing is to virtually create a virtual reference station at the location of the third observation coordinates where the terminal device is located. The virtual reference station is relatively close to the terminal device (because the third observation coordinates have satellite transmission errors, so it cannot express the precise location of the terminal device, but it is relatively close to the precise location of the terminal device), so as to facilitate the subsequent calculation of the offset of the coordinate deflection and the offset of the satellite transmission error correction using the data on the virtual reference station, and then the coordinates of the terminal device can be corrected.

[0283] S404: Deflect the virtual reference station coordinates to obtain deflected virtual reference station coordinates.

[0284] The deflected virtual reference station coordinates are the coordinates of the virtual reference station in the fourth coordinate system; the fourth coordinate system is a spatial rectangular coordinate system in the target coordinate frame.

[0285] In one example, step S404 includes the following two implementations:

[0286] A first possible implementation of step S404 includes the following steps:

[0287] The first step of step S404: generating a coordinate grid within a preset range of the terminal device. The coordinate grid includes a plurality of grid points; the grid points have first coordinates, and the first coordinates of the grid points represent the coordinates of the grid points in the first coordinate system.

[0288] The second step of step S404: perform projection transformation processing on the first coordinates of the grid point to obtain the second coordinates of the grid point; wherein the second coordinates of the grid point represent the coordinates of the grid point in the third coordinate system; and perform translation and rotation processing on the second coordinates of the grid point to obtain the third coordinates of the grid point; wherein the third coordinates of the grid point represent the coordinates of the grid point in the fourth coordinate system.

[0289] The third step of step S404: subtract the second coordinate of the grid point from the third coordinate of the grid point to obtain the coordinate offset of the grid point; wherein the coordinate offset of the grid point represents the offset of the coordinate of the grid point from the third coordinate system to the fourth coordinate system.

[0290] The fourth step of step S404: interpolate the virtual reference station coordinates, the second coordinates of the grid points that meet the preset conditions, and the coordinate offsets of the grid points that meet the preset conditions to obtain the coordinate offsets of the virtual reference station; wherein the coordinate offsets of the virtual reference station represent the offsets of the coordinates of the virtual reference station from the third coordinate system to the fourth coordinate system; the preset condition is the grid point that is closest to the virtual reference station coordinates.

[0291] The fifth step of step S404: adding the virtual reference station coordinates and the coordinate offset of the virtual reference station to obtain the deflected virtual reference station coordinates.

[0292] A second possible implementation of step S404 is: based on a preset deflection tool, deflection processing is performed on the virtual reference station coordinates to obtain the deflected virtual reference station coordinates.

[0293] Exemplarily, the target coordinate frame may be a coordinate frame used by the terminal device for task processing. This embodiment does not limit the specific form of the target coordinate frame, and the target coordinate frame may be selected according to the task requirements of the specific terminal device.

[0294] After determining the virtual reference station coordinates of the virtual reference station, the server may perform deflection processing on the virtual reference station coordinates to obtain the deflected virtual reference station coordinates.

[0295] For example, in a first possible implementation of step S404:

[0296] In the first step of step S404, the server may, for example, generate a coordinate grid within a first preset range of the terminal device, wherein the first preset range may include a geographical range covered by the coordinate grid (preset minimum longitude, preset maximum longitude, preset minimum latitude, preset maximum latitude), and a preset grid spacing (for example, one grid point every 100 meters). Figure 5 Understand the coordinate grid, Figure 5 A schematic diagram of the coordinate grid provided for this application, Figure 5The grid lines and points in are coordinate grids generated by the server within the first preset range of the terminal device, where: Figure 5 The points where the grid lines intersect are grid points. When generating the coordinate grid, the first coordinates of each grid point will be generated at the same time.

[0297] In the second step of step S404, after generating the first coordinates of each grid point, the server can perform projection transformation processing on the first coordinates of each grid point based on a preset projection change formula to obtain the second coordinates of each grid point. Then, based on the preset translation formula and rotation formula, the second coordinates without grid points are translated and rotated to obtain the third coordinates of each grid point.

[0298] In the third step of step S404, after obtaining the third coordinate of each grid point and the second coordinate of the grid point, the server subtracts the second coordinate of each grid point from the third coordinate of the grid point to obtain the coordinate offset of each grid point.

[0299] In the fourth step of step S404, after obtaining the coordinate offset of each grid point, the server may interpolate the virtual reference station coordinates, the second coordinates of the grid points that meet the preset conditions, and the coordinate offsets of the grid points that meet the preset conditions to obtain the coordinate offsets of the virtual reference station. The preset conditions may be, for example, a number of (e.g., 4) grid points that are closest to the virtual reference station coordinates. For example, an interpolation algorithm such as inverse distance weighted interpolation and Kriging interpolation may be used during the interpolation process. As long as the interpolation algorithm can be used to estimate the coordinate offset of the virtual reference station based on the virtual reference station coordinates, the second coordinates of the grid points that meet the preset conditions, and the coordinate offsets of the grid points that meet the preset conditions, the interpolation algorithm may be used. This embodiment does not limit the interpolation algorithm here, and it may be selected according to the actual processing task requirements.

[0300] In the fifth step of step S404, after obtaining the coordinate offset of the virtual reference station, the server can add the virtual reference station coordinates and the coordinate offset of the virtual reference station to obtain the deflected virtual reference station coordinates. At this time, the deflected virtual reference station coordinates have completed the coordinate deflection and meet the preset requirements.

[0301] In a second possible implementation of step S404, the server can deflect the virtual reference station coordinates based on a preset deflection tool to obtain the deflected virtual reference station coordinates. At this point, the deflected virtual reference station coordinates have also completed the coordinate deflection and meet the preset requirements. The preset deflection tool can be, for example, a pre-installed or pre-installed virtual reference station coordinate on the server that is applied to the geographic information security authority.

[0302] It is understandable that if the coordinates processed by the terminal device ultimately need to be used in combination with other data deflected based on a preset deflection tool (for example, the coordinates processed by the terminal device ultimately need to be combined with a high-precision map deflected based on a preset deflection tool for high-precision map navigation), then the virtual reference station coordinates can only be deflected based on the second possible implementation method of step S404 (i.e., based on the preset deflection tool) to obtain the deflected virtual reference station coordinates. If the coordinates processed by the terminal device ultimately do not need to be used in combination with other data deflected based on a preset deflection tool, the first possible implementation method of step S404 or the second possible implementation method of step S404 can be used to deflect the virtual reference station coordinates to obtain the deflected virtual reference station coordinates, and this embodiment does not limit this.

[0303] S405: Perform error correction processing on the deflected virtual reference station coordinates to obtain an initial offset.

[0304] In one example, the first transmission data also includes first satellite observation data corresponding to the terminal device, where the first satellite observation data represents observation data collected when the satellite observes the terminal device.

[0305] Step S405 includes the following steps:

[0306] The first step of step S405: determine the first satellite observation data, which is the initial observation data of the virtual reference station corresponding to the terminal device.

[0307] The second step of step S405: obtain the real coordinates of the real reference station corresponding to the terminal device; wherein the real reference station coordinates represent the real coordinates of the real reference station in the first coordinate system; and perform projection transformation processing on the real reference station coordinates to obtain processed real reference station coordinates; wherein the processed real reference station coordinates represent the coordinates of the real reference station in the third coordinate system.

[0308] The third step of step S405: obtain the acquisition coordinates and the second satellite observation data received by the real reference station; wherein the acquisition coordinates represent the observation coordinates of the real reference station in the first coordinate system; the second satellite observation data represent the observation data collected when the satellite observes the real reference station; and perform projection transformation processing on the acquisition coordinates to obtain processed acquisition coordinates, wherein the processed acquisition coordinates represent the coordinates of the real reference station in the third coordinate system.

[0309] The fourth step of step S405: perform high-precision differential processing on the processed real reference station coordinates, the processed acquisition coordinates and the second satellite observation data to obtain the coordinate offset of the real reference station; wherein the coordinate offset of the real reference station represents the offset of the coordinates of the real reference station from the processed acquisition coordinates to the real reference station coordinates.

[0310] The fifth step of step S405: perform high-precision differential processing on the deflected virtual reference station coordinates, the initial observation data of the virtual reference station, the processed acquisition coordinates, the second satellite observation data, and the coordinate offset of the real reference station to obtain the initial offset.

[0311] For example, although the deflected virtual reference station coordinates obtained by the server can meet the preset requirements, there are still satellite transmission errors and cannot meet the requirements of high-precision coordinates of the terminal device in the terminal device mission. Therefore, the server can perform error correction processing on the deflected virtual reference station coordinates to obtain the initial offset.

[0312] For example, in the first step of step S405, the server may first use the first satellite observation data as the initial observation data of the virtual reference station corresponding to the terminal device. Figure 2 The description in the embodiments will not be repeated here.

[0313] In the second step of step S405, the server may obtain the real coordinates of each real reference station within the second preset range of the terminal device. Based on the preset first projection transformation formula, the real reference station coordinates are projected and transformed to obtain the processed real reference station coordinates. The second preset range and the first preset range may not be completely the same, but there needs to be a certain overlap area to ensure that the deflected virtual reference station coordinates can be corrected for errors within the overlap area.

[0314] In the third step of step S405, the server can obtain the latest acquisition coordinates and second satellite observation data received by each real reference station within the second preset range in real time. And based on the preset first projection transformation formula, the acquisition coordinates are projected and transformed to obtain the processed acquisition coordinates. The introduction of the acquisition coordinates and the second satellite observation data is detailed in Figure 2 The description in the embodiments will not be repeated here.

[0315] In the fourth step of step S405, the server may perform high-precision differential processing on the processed real reference station coordinates, the processed acquisition coordinates, and the second satellite observation data to obtain the coordinate offset of the real reference station. The high-precision differential processing may use carrier phase differential technology (Real-Time Kinematic, RTK for short), for example. The coordinate offset of the real reference station obtained based on RTK may be regarded as the transmission error of the satellite signal in the processed acquisition coordinates.

[0316] In the fifth step of step S405, the server may perform high-precision differential processing on the deflected virtual reference station coordinates, the initial observation data of the virtual reference station, the processed acquisition coordinates, the second satellite observation data, and the coordinate offset of the real reference station to obtain an initial offset. Among them, the high-precision differential processing may use, for example, carrier phase differential technology (Real-Time Kinematic, referred to as RTK), and the initial offset obtained based on RTK can be regarded as the transmission error of the satellite signal in the deflected virtual reference station coordinates. At this time, the initial offset includes both the offset of the virtual reference station coordinate deflection to meet the preset requirements and the offset of the satellite transmission error correction in the virtual reference station coordinates.

[0317] Since the errors of satellite signals are similar at multiple locations in the same geographical area, and the coordinates of the virtual reference station are equal to the coordinates of the terminal device, the initial offset can be regarded as including both the offset of the coordinate deflection of the terminal device to meet the preset requirements and the offset of the error correction of satellite transmission in the coordinates of the terminal device.

[0318] S406: Add the third observation coordinate and the initial offset to obtain a fourth observation coordinate, wherein the fourth observation coordinate represents the coordinate of the terminal device in the fourth coordinate system.

[0319] Exemplarily, after obtaining the initial offset, the server may add the third observation coordinate (ie, the coordinate of the terminal device in the third coordinate system) and the initial offset to obtain the fourth observation coordinate.

[0320] S407 , performing projection transformation processing on the fourth observation coordinates to obtain second observation coordinates.

[0321] In one example, the second observation coordinates represent the coordinates of the terminal device in a second coordinate system; the second coordinate system is a world geodetic coordinate system in a target coordinate frame.

[0322] For example, although the fourth observation coordinates are already high-precision coordinates of the terminal device after deflection, the fourth observation coordinates are coordinates in the fourth coordinate system, and the terminal device task requires coordinates in the second coordinate system. Therefore, after obtaining the fourth observation coordinates, the server can perform projection transformation processing on the fourth observation coordinates based on the preset second projection transformation formula to obtain the second observation coordinates.

[0323] S408: Encrypt the second observation coordinates to obtain second transmission data.

[0324] In one example, the second transmission data also includes the encrypted public key of the server, the third signature, the encrypted second key, and the fourth signature.

[0325] In one example, step S408 includes the following process:

[0326] Encrypting the second observation coordinates based on the second key generated by the server to obtain encrypted second observation coordinates;

[0327] The public key of the server is encrypted based on the public key of the terminal device to obtain an encrypted public key of the server;

[0328] Encrypting the second key based on the public key of the terminal device to obtain an encrypted second key;

[0329] Encrypting the encrypted public key of the server based on the private key of the server to obtain a third signature;

[0330] Encrypting the encrypted second key based on the private key of the server to obtain a fourth signature;

[0331] The encrypted second observation coordinates, the encrypted public key of the server, the encrypted second secret key, the third signature, and the fourth signature are used as the second transmission data.

[0332] Exemplarily, after obtaining the second observation coordinates, the server may encrypt the second observation coordinates to obtain second transmission data.

[0333] For example, the server may generate a 128-bit random number based on a random number generator (RNG) as the second key.

[0334] The server encrypts the second observation coordinates based on the SM4 algorithm and the second key to obtain the encrypted second observation coordinates;

[0335] The server encrypts the server's public key based on the SM9 algorithm and the public key of the terminal device to obtain the encrypted server's public key;

[0336] The server encrypts the second key based on the SM9 algorithm and the public key of the terminal device to obtain an encrypted second key;

[0337] The server encrypts the encrypted public key of the server based on the SM9 algorithm and the server's private key to obtain a third signature;

[0338] The server encrypts the encrypted second key based on the SM9 algorithm and the server's private key to obtain a fourth signature;

[0339] The encrypted second observation coordinates, the encrypted public key of the server, the encrypted second secret key, the third signature, and the fourth signature are used as the second transmission data.

[0340] S409. Send the second transmission data to the terminal device through a dedicated secure network channel; wherein the second transmission data is used to obtain second observation coordinates after decryption, and the second observation coordinates are used to process the terminal device task.

[0341] For example, if the dedicated secure network channel communication between the server and the terminal device is still connected, after obtaining the second transmission data, the server can first encapsulate the second transmission data to obtain a tunnel data packet of the second transmission data, wherein the tunnel data packet includes the second transmission data, the IP address of the server, and the IP address of the terminal device, etc. Then, the server sends the tunnel data packet of the second transmission data to the terminal device through a public network (such as the Internet).

[0342] If the dedicated secure network channel communication between the server and the terminal device is disconnected, the server needs to wait for the terminal device to send a connection request to the server after obtaining the second transmission data, and re-establish communication according to the second and third steps of step S401, and then encapsulate the second transmission data to obtain a tunnel data packet of the second transmission data, wherein the tunnel data packet includes the second transmission data, the IP address of the server and the IP address of the terminal device, etc. Then, the server sends the tunnel data packet of the second transmission data to the terminal device through a public network (such as the Internet).

[0343] S410. The terminal device decrypts the second transmission data to obtain second observation coordinates.

[0344] In one example, the second transmission data also includes an encrypted server public key, a third signature, an encrypted second key, and a fourth signature; wherein the encrypted server public key is obtained by encrypting the server public key based on the public key of the terminal device; the third signature is obtained by encrypting the encrypted server public key based on the server's private key; the encrypted second key is obtained by encrypting the second key generated by the server based on the public key of the terminal device; and the fourth signature is obtained by encrypting the encrypted second key based on the server's private key.

[0345] In one example, step S410 includes the following steps:

[0346] The first step of step S410: if it is determined that the verification of the encrypted server public key based on the third signature is successful, the encrypted second key is verified based on the fourth signature.

[0347] In one example, the first step of step S410, “verifying the encrypted public key of the server based on the third signature”, includes the following process:

[0348] Decrypt the encrypted public key of the server based on the private key of the terminal device to obtain the public key of the server;

[0349] Encrypting the decrypted public key of the server based on the public key of the terminal device to obtain third encrypted information;

[0350] Decrypting the third signature based on the decrypted public key of the server to obtain the encrypted public key of the server to be verified;

[0351] If it is determined that the third encrypted information and the encrypted public key of the server to be verified are consistent, it is determined that the verification of the encrypted public key of the server is successful.

[0352] The second step of step S410: if it is determined that the verification of the encrypted second key based on the fourth signature is successful, the second transmission data is decrypted to obtain the second observation coordinates

[0353] In one example, the second step of step S410, “verifying the encrypted second key based on the fourth signature”, includes the following process:

[0354] Decrypting the encrypted second key based on the private key of the terminal device to obtain the second key;

[0355] Encrypting the decrypted second key based on the public key of the terminal device to obtain fourth encrypted information;

[0356] Decrypting the fourth signature based on the decrypted public key of the server to obtain the encrypted second key to be verified;

[0357] If it is determined that the fourth encrypted information and the encrypted second key to be verified are consistent, it is determined that the verification of the encrypted second key is successful.

[0358] Exemplarily, after obtaining the second transmission data, the terminal device may decrypt the second transmission data to obtain the second observation coordinates.

[0359] For example, the first step of step S410 includes the following process:

[0360] The terminal device decrypts the encrypted public key of the server based on the SM9 algorithm and the private key of the terminal device to obtain the public key of the server; wherein the private key of the terminal device can be pre-stored in the terminal device, for example.

[0361] The terminal device encrypts the decrypted public key of the server based on the SM9 algorithm and the public key of the terminal device to obtain third encrypted information; wherein the public key of the terminal device can, for example, be pre-stored in the terminal device.

[0362] The terminal device decrypts the third signature based on the SM9 algorithm and the decrypted public key of the server to obtain the encrypted public key of the server to be verified;

[0363] If it is determined that the third encrypted information and the encrypted public key of the server to be verified are consistent, it is determined that the verification of the encrypted public key of the server is successful.

[0364] For example, the second step of step S410 includes the following process:

[0365] After the terminal device determines that the encrypted public key of the server has been verified, the encrypted second key is decrypted based on the SM9 algorithm and the private key of the terminal device to obtain the second key;

[0366] The terminal device encrypts the decrypted second key based on the SM9 algorithm and the public key of the terminal device to obtain fourth encrypted information;

[0367] The terminal device decrypts the fourth signature based on the SM9 algorithm and the public key of the server decrypted in the first step of step S410 to obtain the encrypted second key to be verified;

[0368] If the terminal device determines that the fourth encrypted information and the encrypted second key to be verified are consistent, it determines that the verification of the encrypted second key is successful.

[0369] The terminal device decrypts the second transmission data based on the SM4 algorithm and the decrypted second key to obtain the second observation coordinates.

[0370] S411. The terminal device processes the terminal device task according to the second observation coordinates.

[0371] Exemplarily, after obtaining the second observation coordinates, the terminal device may process the terminal device task according to the second observation coordinates. Figure 2 The description of the embodiments will not be repeated here.

[0372] The coordinate processing method of the terminal device provided in the embodiment of the present application is that the terminal device encrypts the first observation coordinates and the first satellite observation data based on the SM4 algorithm and the SM9 algorithm to obtain the first transmission data, and then the terminal device and the server first establish communication based on a dedicated secure network channel, and then encapsulates the first transmission data to obtain a tunnel data packet of the first transmission data, and then sends the tunnel data packet of the first transmission data to the server. Similarly, the server encrypts the second observation coordinates based on the SM4 algorithm and the SM9 algorithm to obtain the second transmission data, and then encapsulates the second transmission data through a dedicated secure network channel to obtain a tunnel data packet of the second transmission data, and then sends the tunnel data packet of the second transmission data to the terminal device.

[0373] Therefore, the first observation coordinates and the first satellite observation data sent by the terminal device to the server and the second observation coordinates sent by the server to the terminal device are all sent via ciphertext, which has high security.

[0374] In an embodiment of the present application, the virtual reference station coordinates are deflected by the server to obtain the deflected virtual reference station coordinates. Then, the deflected virtual reference station coordinates are error corrected to obtain the initial offset. Next, the third observation coordinates and the initial offset are added to obtain the fourth observation coordinates. Furthermore, the fourth observation coordinates are projected and transformed to obtain the second observation coordinates. The second observation coordinates are used to process terminal device tasks. Therefore, the coordinate deflection processing and error correction processing of the terminal device are both executed on the server. The server only sends the second observation coordinates after the coordinate deflection processing and the error correction processing to the terminal device, and does not send the intermediate process data, so it has high security. In addition, it saves the time for the terminal device to pre-install or update the deflection tool, and thus, it can achieve safe, timely and effective high-precision positioning of the coordinates of the terminal device.

[0375] Figure 6 A flowchart of a coordinate processing method for another terminal device provided by the present application is shown as follows: Figure 6 As shown, the method includes:

[0376] S601. Encrypt first observation coordinates acquired by a terminal device to obtain first transmission data; wherein the first observation coordinates represent coordinates of the terminal device.

[0377] In one example, the first observation coordinates represent the coordinates of the terminal device in a first coordinate system; the first coordinate system is a world geodetic coordinate system in a continuously operating reference station coordinate frame.

[0378] In one example, the first transmission data also includes an encrypted public key of the terminal device, a first signature, an encrypted first key, and a second signature.

[0379] In one example, step S601 includes the following process:

[0380] Encrypting the first observation coordinates based on the first key generated by the terminal device to obtain the encrypted first observation coordinates;

[0381] Encrypting the public key of the terminal device based on the public key of the server to obtain the encrypted public key of the terminal device;

[0382] Encrypting the first key based on the public key of the server to obtain an encrypted first key;

[0383] Encrypting the encrypted public key of the terminal device based on the private key of the terminal device to obtain a first signature;

[0384] Encrypting the encrypted first key based on the private key of the terminal device to obtain a second signature;

[0385] The encrypted first observation coordinates, the encrypted public key of the terminal device, the encrypted first secret key, the first signature, and the second signature are used as the first transmission data.

[0386] Exemplarily, the execution subject of this embodiment may be a terminal device, a client, or other apparatus or device that can implement the solution of the present application, and there is no limitation on this.

[0387] Among them, the terminal device can be a vehicle-mounted terminal or a navigation terminal in a vehicle, or a mobile terminal, or a total station, a drone, a robot, an Internet of Things device, etc.

[0388] This embodiment is introduced with the execution subject being a terminal device.

[0389] S602, sending the first transmission data to the server through a dedicated secure network channel; wherein the first transmission data is used to obtain the first observation coordinates after decryption, and the first observation coordinates are used to obtain the second observation coordinates after positioning deflection processing; the second observation coordinates are used to obtain the second transmission data after being encrypted.

[0390] In one example, the second observation coordinates represent the coordinates of the terminal device in a second coordinate system; the second coordinate system is a world geodetic coordinate system in a target coordinate frame.

[0391] In one example, before sending the first transmission data to the server through the dedicated secure network channel, the following process is also included:

[0392] Sending a connection request to the server; wherein the connection request represents a communication request to establish a dedicated secure network channel with the server; the connection request includes a user name and password;

[0393] After confirming that the server has successfully authenticated the user and password, communication is established with the server based on a dedicated secure network channel.

[0394] S603: Receive second transmission data sent by the server through a dedicated secure network channel.

[0395] S604: Decrypt the second transmission data to obtain second observation coordinates.

[0396] In one example, the second transmission data also includes an encrypted server public key, a third signature, an encrypted second key, and a fourth signature; wherein the encrypted server public key is obtained by encrypting the server public key based on the public key of the terminal device; the third signature is obtained by encrypting the encrypted server public key based on the server's private key; the encrypted second key is obtained by encrypting the second key generated by the server based on the public key of the terminal device; and the fourth signature is obtained by encrypting the encrypted second key based on the server's private key.

[0397] In one example, step S604 includes the following steps:

[0398] The first step of step S604: if it is determined that the verification of the encrypted server public key based on the third signature is successful, the encrypted second key is verified based on the fourth signature.

[0399] In one example, the first step of step S604, “verifying the encrypted public key of the server based on the third signature”, includes the following process:

[0400] Decrypt the encrypted public key of the server based on the private key of the terminal device to obtain the public key of the server;

[0401] Encrypting the decrypted public key of the server based on the public key of the terminal device to obtain third encrypted information;

[0402] Decrypting the third signature based on the decrypted public key of the server to obtain the encrypted public key of the server to be verified;

[0403] If it is determined that the third encrypted information and the encrypted public key of the server to be verified are consistent, it is determined that the verification of the encrypted public key of the server is successful.

[0404] The second step of step S604: if it is determined that the verification of the encrypted second key based on the fourth signature is successful, the second transmission data is decrypted to obtain the second observation coordinates.

[0405] In one example, the second step of step S604, “verifying the encrypted second key based on the fourth signature”, includes the following process:

[0406] Decrypting the encrypted second key based on the private key of the terminal device to obtain the second key;

[0407] Encrypting the decrypted second key based on the public key of the terminal device to obtain fourth encrypted information;

[0408] Decrypting the fourth signature based on the decrypted public key of the server to obtain the encrypted second key to be verified;

[0409] If it is determined that the fourth encrypted information and the encrypted second key to be verified are consistent, it is determined that the verification of the encrypted second key is successful.

[0410] S605. Process the terminal device task according to the second observation coordinates.

[0411] The method provided in this embodiment is applied to a terminal device. This embodiment can refer to the above method embodiment, and its principle and technical effect are similar, so it will not be repeated.

[0412] Figure 7 A schematic diagram of the structure of a coordinate processing device for a terminal device applied to a server provided in the present application is shown in FIG. Figure 7 As shown, the coordinate processing device 70 of the terminal device applied to the server provided in this embodiment includes:

[0413] The receiving module 701 is used to receive first transmission data sent by the terminal device through a dedicated secure network channel; wherein the first transmission data is data obtained by encrypting the first observation coordinates obtained by the terminal device; and the first observation coordinates represent the coordinates of the terminal device;

[0414] A decryption module 702, configured to decrypt the first transmission data to obtain a first observation coordinate;

[0415] A processing module 703 is used to perform positioning and deflection processing on the first observation coordinates to obtain second observation coordinates;

[0416] The encryption module 704 is used to encrypt the second observation coordinates to obtain second transmission data;

[0417] The sending module 705 is used to send the second transmission data to the terminal device through a dedicated secure network channel; wherein the second transmission data is used to obtain the second observation coordinates after decryption, and the second observation coordinates are used to process the terminal device task.

[0418] In a possible implementation manner, the first transmission data further includes an encrypted public key of the terminal device, a first signature, an encrypted first key, and a second signature;

[0419] Among them, the encrypted public key of the terminal device is obtained by encrypting the public key of the terminal device based on the public key of the server; the first signature is obtained by encrypting the encrypted public key of the terminal device based on the private key of the terminal device; the encrypted first key is obtained by encrypting the first key generated by the terminal device based on the public key of the server; the second signature is obtained by encrypting the encrypted first key based on the private key of the terminal device.

[0420] In a possible implementation, the decryption module 702 is specifically configured to:

[0421] If it is determined that the verification of the encrypted public key of the terminal device based on the first signature is successful, then the encrypted first key is verified based on the second signature;

[0422] If it is determined that the verification of the encrypted first key based on the second signature is successful, the first transmission data is decrypted to obtain the first observation coordinates.

[0423] In a possible implementation manner, “verifying the encrypted public key of the terminal device based on the first signature” in the decryption module 702 is specifically used to:

[0424] Decrypt the encrypted public key of the terminal device based on the private key of the server to obtain the public key of the terminal device;

[0425] Encrypting the decrypted public key of the terminal device based on the public key of the server to obtain first encrypted information;

[0426] Decrypting the first signature based on the decrypted public key of the terminal device to obtain the encrypted public key of the terminal device to be verified;

[0427] If it is determined that the first encrypted information and the public key of the encrypted terminal device to be verified are consistent, it is determined that the verification of the public key of the encrypted terminal device is successful.

[0428] In a possible implementation manner, the “verifying the encrypted first key based on the second signature” in the decryption module 702 is specifically used to:

[0429] Decrypting the encrypted first key based on the private key of the server to obtain the first key;

[0430] Encrypting the decrypted first key based on the public key of the server to obtain second encrypted information;

[0431] Decrypting the second signature based on the decrypted public key of the terminal device to obtain the encrypted first key to be verified;

[0432] If it is determined that the second encrypted information is consistent with the encrypted first key to be verified, it is determined that the verification of the encrypted first key is successful.

[0433] In a possible implementation, the first observation coordinates represent coordinates of the terminal device in a first coordinate system; the first coordinate system is a world geodetic coordinate system in a continuously operating reference station coordinate framework;

[0434] The second observation coordinates represent the coordinates of the terminal device in the second coordinate system; the second coordinate system is the world geodetic coordinate system in the target coordinate framework.

[0435] In a possible implementation, the processing module 703 is specifically configured to:

[0436] Performing projection transformation processing on the first observation coordinates to obtain third observation coordinates; wherein the third observation coordinates represent the coordinates of the terminal device in a third coordinate system; the third coordinate system is a spatial rectangular coordinate system in a continuously running reference station coordinate framework; determining the third observation coordinates as virtual reference station coordinates of a virtual reference station corresponding to the terminal device;

[0437] Deflecting the virtual reference station coordinates to obtain deflected virtual reference station coordinates; wherein the deflected virtual reference station coordinates are the coordinates of the virtual reference station in a fourth coordinate system; the fourth coordinate system is a spatial rectangular coordinate system in a target coordinate frame;

[0438] Performing error correction processing on the deflected virtual reference station coordinates to obtain an initial offset; and adding the third observation coordinates and the initial offset to obtain a fourth observation coordinate; wherein the fourth observation coordinate represents the coordinate of the terminal device in the fourth coordinate system;

[0439] The fourth observation coordinates are subjected to projection transformation processing to obtain the second observation coordinates.

[0440] In a possible implementation manner, “performing a deflection process on the virtual reference station coordinates to obtain the deflected virtual reference station coordinates” in the processing module 703 is specifically used to:

[0441] Generate a coordinate grid within a preset range of the terminal device. The coordinate grid includes a plurality of grid points; the grid points have first coordinates, and the first coordinates of the grid points represent the coordinates of the grid points in the first coordinate system;

[0442] Performing projection transformation processing on the first coordinates of the grid point to obtain the second coordinates of the grid point; wherein the second coordinates of the grid point represent the coordinates of the grid point in the third coordinate system; and performing translation and rotation processing on the second coordinates of the grid point to obtain the third coordinates of the grid point; wherein the third coordinates of the grid point represent the coordinates of the grid point in the fourth coordinate system;

[0443] Subtract the second coordinate of the grid point from the third coordinate of the grid point to obtain a coordinate offset of the grid point; wherein the coordinate offset of the grid point represents an offset of the coordinate of the grid point from the third coordinate system to the fourth coordinate system;

[0444] Interpolation processing is performed on the coordinates of the virtual reference station, the second coordinates of the grid points that meet the preset conditions, and the coordinate offsets of the grid points that meet the preset conditions to obtain the coordinate offsets of the virtual reference station; wherein the coordinate offsets of the virtual reference station represent the offsets of the coordinates of the virtual reference station from the third coordinate system to the fourth coordinate system; the preset condition is the grid point that is closest to the coordinates of the virtual reference station;

[0445] The virtual reference station coordinates are added to the coordinate offset of the virtual reference station to obtain the deflected virtual reference station coordinates.

[0446] In a possible implementation manner, “performing a deflection process on the virtual reference station coordinates to obtain the deflected virtual reference station coordinates” in the processing module 703 is specifically used to:

[0447] Based on the preset deflection tool, the virtual reference station coordinates are deflected to obtain the deflected virtual reference station coordinates.

[0448] In a possible implementation manner, the first transmission data also includes first satellite observation data corresponding to the terminal device, where the first satellite observation data represents observation data collected when the satellite observes the terminal device; and “performing error correction processing on the deflected virtual reference station coordinates to obtain an initial offset” in the processing module 703 is specifically used to:

[0449] Determine the first satellite observation data as initial observation data of the virtual reference station corresponding to the terminal device;

[0450] Acquire the real coordinates of the real reference station corresponding to the terminal device; wherein the real reference station coordinates represent the real coordinates of the real reference station in the first coordinate system; and perform projection transformation processing on the real reference station coordinates to obtain processed real reference station coordinates; wherein the processed real reference station coordinates represent the coordinates of the real reference station in the third coordinate system;

[0451] Acquire the acquisition coordinates and the second satellite observation data received by the real reference station; wherein the acquisition coordinates represent the observation coordinates of the real reference station in the first coordinate system; the second satellite observation data represent the observation data collected when the satellite observes the real reference station; and perform projection transformation processing on the acquisition coordinates to obtain processed acquisition coordinates, wherein the processed acquisition coordinates represent the coordinates of the real reference station in the third coordinate system;

[0452] Performing high-precision differential processing on the processed real reference station coordinates, the processed acquisition coordinates, and the second satellite observation data to obtain the coordinate offset of the real reference station; wherein the coordinate offset of the real reference station represents the offset of the coordinates of the real reference station from the processed acquisition coordinates to the coordinates of the real reference station;

[0453] The deflected virtual reference station coordinates, the initial observation data of the virtual reference station, the processed acquisition coordinates, the second satellite observation data, and the coordinate offset of the real reference station are subjected to high-precision differential processing to obtain the initial offset.

[0454] In a possible implementation manner, before receiving module 701, it is further configured to:

[0455] Receiving a connection request sent by a terminal device; wherein the connection request represents a communication request to establish a dedicated secure network channel with a server; the connection request includes a user name and a password;

[0456] After confirming that the user name and password are authenticated, communication is established with the terminal device based on a dedicated secure network channel.

[0457] In a possible implementation manner, the second transmission data further includes an encrypted public key of the server, a third signature, an encrypted second key, and a fourth signature; the encryption module 704 is specifically used to:

[0458] Encrypting the second observation coordinates based on the second key generated by the server to obtain encrypted second observation coordinates;

[0459] The public key of the server is encrypted based on the public key of the terminal device to obtain an encrypted public key of the server;

[0460] Encrypting the second key based on the public key of the terminal device to obtain an encrypted second key;

[0461] Encrypting the encrypted public key of the server based on the private key of the server to obtain a third signature;

[0462] Encrypting the encrypted second key based on the private key of the server to obtain a fourth signature;

[0463] The encrypted second observation coordinates, the encrypted public key of the server, the encrypted second secret key, the third signature, and the fourth signature are used as the second transmission data.

[0464] The coordinate processing device of the terminal device provided in this embodiment can execute the method applied to the server provided in the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be described in detail here.

[0465] Figure 8 A schematic diagram of the structure of a coordinate processing device for a terminal device provided by the present application, such as Figure 8 As shown, the coordinate processing device 80 of a terminal device provided in this embodiment and applied to a terminal device includes:

[0466] The encryption module 801 is used to encrypt the first observation coordinates acquired by the terminal device to obtain first transmission data; wherein the first observation coordinates represent the coordinates of the terminal device;

[0467] The sending module 802 is used to send the first transmission data to the server through a dedicated secure network channel; wherein the first transmission data is used to obtain the first observation coordinates after decryption, the first observation coordinates are used to obtain the second observation coordinates after positioning deflection processing; the second observation coordinates are used to obtain the second transmission data after being encrypted;

[0468] The receiving module 803 is used to receive the second transmission data sent by the server through the dedicated secure network channel;

[0469] A decryption module 804, configured to decrypt the second transmission data to obtain a second observation coordinate;

[0470] The processing module 805 is used to process the terminal device task according to the second observation coordinates.

[0471] In a possible implementation manner, the first transmission data further includes an encrypted public key of the terminal device, a first signature, an encrypted first key, and a second signature; the encryption module 801 is specifically used to:

[0472] Encrypting the first observation coordinates based on the first key generated by the terminal device to obtain the encrypted first observation coordinates;

[0473] Encrypting the public key of the terminal device based on the public key of the server to obtain the encrypted public key of the terminal device;

[0474] Encrypting the first key based on the public key of the server to obtain an encrypted first key;

[0475] Encrypting the encrypted public key of the terminal device based on the private key of the terminal device to obtain a first signature;

[0476] Encrypting the encrypted first key based on the private key of the terminal device to obtain a second signature;

[0477] The encrypted first observation coordinates, the encrypted public key of the terminal device, the encrypted first secret key, the first signature, and the second signature are used as the first transmission data.

[0478] In a possible implementation manner, the second transmission data further includes an encrypted public key of the server, a third signature, an encrypted second key, and a fourth signature;

[0479] Among them, the encrypted public key of the server is obtained by encrypting the public key of the server based on the public key of the terminal device; the third signature is obtained by encrypting the encrypted public key of the server based on the private key of the server; the encrypted second key is obtained by encrypting the second key generated by the server based on the public key of the terminal device; the fourth signature is obtained by encrypting the encrypted second key based on the private key of the server.

[0480] In a possible implementation, the decryption module 804 is specifically configured to:

[0481] If it is determined that the verification of the encrypted public key of the server based on the third signature is successful, then the encrypted second key is verified based on the fourth signature;

[0482] If it is determined that the verification of the encrypted second key based on the fourth signature is successful, the second transmission data is decrypted to obtain the second observation coordinates.

[0483] In a possible implementation manner, the “verifying the encrypted public key of the server based on the third signature” in the decryption module 804 is specifically used to:

[0484] Decrypt the encrypted public key of the server based on the private key of the terminal device to obtain the public key of the server;

[0485] Encrypting the decrypted public key of the server based on the public key of the terminal device to obtain third encrypted information;

[0486] Decrypting the third signature based on the decrypted public key of the server to obtain the encrypted public key of the server to be verified;

[0487] If it is determined that the third encrypted information and the encrypted public key of the server to be verified are consistent, it is determined that the verification of the encrypted public key of the server is successful.

[0488] In a possible implementation manner, “verifying the encrypted second key based on the fourth signature” in the decryption module 804 is specifically used to:

[0489] Decrypting the encrypted second key based on the private key of the terminal device to obtain the second key;

[0490] Encrypting the decrypted second key based on the public key of the terminal device to obtain fourth encrypted information;

[0491] Decrypting the fourth signature based on the decrypted public key of the server to obtain the encrypted second key to be verified;

[0492] If it is determined that the fourth encrypted information and the encrypted second key to be verified are consistent, it is determined that the verification of the encrypted second key is successful.

[0493] In a possible implementation, the first observation coordinates represent coordinates of the terminal device in a first coordinate system; the first coordinate system is a world geodetic coordinate system in a continuously operating reference station coordinate framework;

[0494] The second observation coordinates represent the coordinates of the terminal device in the second coordinate system; the second coordinate system is the world geodetic coordinate system in the target coordinate framework.

[0495] In a possible implementation manner, before sending module 802, it is further configured to:

[0496] Sending a connection request to the server; wherein the connection request represents a communication request to establish a dedicated secure network channel with the server; the connection request includes a user name and password;

[0497] After confirming that the server has successfully authenticated the user and password, communication is established with the server based on a dedicated secure network channel.

[0498] The coordinate processing device of the terminal device provided in this embodiment can execute the method applied to the terminal device provided in the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be described in detail here.

[0499] Fig. 9 A schematic diagram of the structure of a server provided in this application. Fig. 9As shown, the server 90 provided in this embodiment includes: at least one processor 901 and a memory 902. Optionally, the server 90 also includes a communication component 903. The processor 901, the memory 902 and the communication component 903 are connected via a bus 904.

[0500] In a specific implementation process, at least one processor 901 executes the computer execution instructions stored in the memory 902, so that at least one processor 901 executes the above-mentioned method applied to the server.

[0501] The specific implementation process of the processor 901 can refer to the above-mentioned method embodiment applied to the server. The implementation principle and technical effects are similar and will not be repeated in this embodiment.

[0502] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0503] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0504] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0505] Fig.10 This is a schematic diagram of the structure of a terminal device provided by this application. Fig.10As shown, the terminal device 100 provided in this embodiment includes: at least one processor 1001 and a memory 1002. Optionally, the terminal device 100 also includes a communication component 1003. The processor 1001, the memory 1002 and the communication component 1003 are connected via a bus 1004.

[0506] In a specific implementation process, at least one processor 1001 executes computer-executable instructions stored in the memory 1002, so that at least one processor 1001 executes the above-mentioned method applied to the terminal device.

[0507] The specific implementation process of the processor 1001 can refer to the above-mentioned method embodiment applied to the terminal device. Its implementation principle and technical effects are similar, and this embodiment will not be repeated here.

[0508] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0509] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0510] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0511] The present application also provides a data security monitoring and processing system, the system includes a server and a terminal device; wherein the server is used to implement the method applied to the server in the above embodiment, and the terminal device is used to implement the method applied to the terminal device in the above embodiment. The server is also used to perform risk monitoring and processing on the data transmitted between the terminal device and the server. For example, if the system monitors that the data transmitted from the terminal device to the server is not encrypted, a reminder message is generated.

[0512] The present application also provides a computer program product, including a computer program, which implements the above-mentioned method applied to the server when executed by a processor, or implements the above-mentioned method applied to the terminal device when executed by a processor.

[0513] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above-mentioned method applied to the server is implemented, or when the processor executes the computer-executable instructions, the above-mentioned method applied to the terminal device is implemented.

[0514] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0515] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0516] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0517] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0518] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0519] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0520] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

[0521] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A coordinate processing method for a terminal device, characterized in that: The method comprises: Receiving first transmission data sent by a terminal device through a dedicated secure network channel; wherein the first transmission data is data obtained by encrypting the first observation coordinates acquired by the terminal device; and the first observation coordinates represent the coordinates of the terminal device; Decrypting the first transmission data to obtain the first observation coordinates; and performing positioning deflection processing on the first observation coordinates to obtain second observation coordinates; The second observation coordinates are encrypted to obtain second transmission data, and the second transmission data is sent to the terminal device through the dedicated secure network channel; wherein the second transmission data is used to decrypt to obtain the second observation coordinates, and the second observation coordinates are used to process terminal device tasks.

2. The method according to claim 1, characterized in that The first transmission data also includes the encrypted public key of the terminal device, the first signature, the encrypted first key, and the second signature; The encrypted public key of the terminal device is obtained by encrypting the public key of the terminal device based on the public key of the server; the first signature is obtained by encrypting the encrypted public key of the terminal device based on the private key of the terminal device; the encrypted first key is obtained by encrypting the first key generated by the terminal device based on the public key of the server; the second signature is obtained by encrypting the encrypted first key based on the private key of the terminal device; Decrypting the first transmission data to obtain the first observation coordinates includes: If it is determined that the verification of the encrypted public key of the terminal device based on the first signature is successful, the encrypted first key is verified based on the second signature; wherein the verification of the encrypted public key of the terminal device based on the first signature includes: decrypting the encrypted public key of the terminal device based on the private key of the server to obtain the public key of the terminal device; encrypting the decrypted public key of the terminal device based on the public key of the server to obtain first encrypted information; decrypting the first signature based on the decrypted public key of the terminal device to obtain the encrypted public key of the terminal device to be verified; if it is determined that the first encrypted information is consistent with the encrypted public key of the terminal device to be verified, it is determined that the verification of the encrypted public key of the terminal device is successful; If it is determined that the verification of the encrypted first key based on the second signature is successful, the first transmission data is decrypted to obtain the first observation coordinates, wherein the verification of the encrypted first key based on the second signature includes: decrypting the encrypted first key based on the private key of the server to obtain the first key; encrypting the decrypted first key based on the public key of the server to obtain second encrypted information; decrypting the second signature based on the decrypted public key of the terminal device to obtain the encrypted first key to be verified; if it is determined that the second encrypted information is consistent with the encrypted first key to be verified, it is determined that the verification of the encrypted first key is successful.

3. The method according to claim 1, characterized in that The first observation coordinates represent the coordinates of the terminal device in a first coordinate system; the first coordinate system is a world geodetic coordinate system in a continuously operating reference station (Continuously Operating Reference Stations, CORS for short) coordinate framework; The second observation coordinates represent the coordinates of the terminal device in a second coordinate system; the second coordinate system is a world geodetic coordinate system in a target coordinate framework; Performing positioning and deflection processing on the first observation coordinates to obtain second observation coordinates includes: Performing projection transformation processing on the first observation coordinates to obtain third observation coordinates; wherein the third observation coordinates represent the coordinates of the terminal device in a third coordinate system; the third coordinate system is a spatial rectangular coordinate system in a continuously running reference station coordinate framework; determining the third observation coordinates as virtual reference station coordinates of a virtual reference station corresponding to the terminal device; Deflecting the virtual reference station coordinates to obtain deflected virtual reference station coordinates; wherein the deflected virtual reference station coordinates are coordinates of the virtual reference station in a fourth coordinate system; the fourth coordinate system is a spatial rectangular coordinate system in a target coordinate frame; Performing error correction processing on the deflected virtual reference station coordinates to obtain an initial offset; and adding the third observation coordinates and the initial offset to obtain a fourth observation coordinate; wherein the fourth observation coordinate represents the coordinates of the terminal device in the fourth coordinate system; Performing projection transformation processing on the fourth observation coordinates to obtain the second observation coordinates.

4. The method according to claim 3, characterized in that Deflecting the virtual reference station coordinates to obtain deflected virtual reference station coordinates includes: Generate a coordinate grid within a preset range of the terminal device, wherein the coordinate grid includes a plurality of grid points; the grid points have first coordinates, and the first coordinates of the grid points represent the coordinates of the grid points in the first coordinate system; Performing a projection transformation process on the first coordinates of the grid point to obtain a second coordinate of the grid point; wherein the second coordinate of the grid point represents the coordinate of the grid point in the third coordinate system; and performing a translation and rotation process on the second coordinate of the grid point to obtain a third coordinate of the grid point; wherein the third coordinate of the grid point represents the coordinate of the grid point in the fourth coordinate system; Subtracting the second coordinate of the grid point from the third coordinate of the grid point to obtain a coordinate offset of the grid point; wherein the coordinate offset of the grid point represents an offset of the coordinate of the grid point from the third coordinate system to the fourth coordinate system; The virtual reference station coordinates, the second coordinates of the grid points meeting the preset conditions, and the coordinate offsets of the grid points meeting the preset conditions are interpolated to obtain the coordinate offsets of the virtual reference station; wherein the coordinate offsets of the virtual reference station represent the offsets of the coordinates of the virtual reference station from the third coordinate system to the fourth coordinate system; and the preset conditions are the grid points that are closest to the virtual reference station coordinates; The virtual reference station coordinates are added to the coordinate offset of the virtual reference station to obtain the deflected virtual reference station coordinates.

5. The method according to claim 3, characterized in that: Deflecting the virtual reference station coordinates to obtain deflected virtual reference station coordinates includes: Based on a preset deflection tool, the virtual reference station coordinates are deflected to obtain the deflected virtual reference station coordinates.

6. The method according to claim 3, characterized in that: The first transmission data also includes first satellite observation data corresponding to the terminal device, where the first satellite observation data represents observation data collected when the satellite observes the terminal device; The error correction process is performed on the deflected virtual reference station coordinates to obtain an initial offset, including: Determining the first satellite observation data as initial observation data of a virtual reference station corresponding to the terminal device; Acquire the real coordinates of the real reference station corresponding to the terminal device; wherein the real reference station coordinates represent the real coordinates of the real reference station in the first coordinate system; and perform projection transformation processing on the real reference station coordinates to obtain processed real reference station coordinates; wherein the processed real reference station coordinates represent the coordinates of the real reference station in the third coordinate system; Acquire the acquisition coordinates and the second satellite observation data received by the real reference station; wherein the acquisition coordinates represent the observation coordinates of the real reference station in the first coordinate system; the second satellite observation data represent the observation data collected when the satellite observes the real reference station; and perform projection transformation processing on the acquisition coordinates to obtain processed acquisition coordinates, wherein the processed acquisition coordinates represent the coordinates of the real reference station in the third coordinate system; Performing high-precision differential processing on the processed real reference station coordinates, the processed acquisition coordinates, and the second satellite observation data to obtain a coordinate offset of the real reference station; wherein the coordinate offset of the real reference station represents an offset of the coordinates of the real reference station from the processed acquisition coordinates to the real reference station coordinates; The deflected virtual reference station coordinates, the initial observation data of the virtual reference station, the processed acquisition coordinates, the second satellite observation data, and the coordinate offset of the real reference station are subjected to high-precision differential processing to obtain the initial offset.

7. The method according to any one of claims 1 to 6, characterized in that Before receiving the first transmission data sent by the terminal device through the dedicated secure network channel, the method further includes: Receiving a connection request sent by the terminal device; wherein the connection request represents a communication request to establish a dedicated secure network channel with the server; the connection request includes a user name and a password; After determining that the user name and the password are authenticated, communication is established with the terminal device based on a dedicated secure network channel.

8. A coordinate processing device for a terminal device, characterized in that: The device comprises: A receiving module, configured to receive first transmission data sent by a terminal device through a dedicated secure network channel; wherein the first transmission data is data obtained by encrypting the first observation coordinates acquired by the terminal device; and the first observation coordinates represent the coordinates of the terminal device; A decryption module, used for decrypting the first transmission data to obtain the first observation coordinates; A processing module, used for performing positioning and deflection processing on the first observation coordinates to obtain second observation coordinates; An encryption module, used for encrypting the second observation coordinates to obtain second transmission data; A sending module is used to send the second transmission data to the terminal device through the dedicated secure network channel; wherein the second transmission data is used to obtain the second observation coordinates after decryption, and the second observation coordinates are used to process terminal device tasks.

9. A computer-readable storage medium / computer program product, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor; and / or The computer program product comprises a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

10. A data security monitoring and processing system, characterized in that: The system comprises a server and a terminal device; wherein the server is used to execute the method according to any one of claims 1 to 7; The server is also used to perform risk monitoring on the data transmitted between the terminal device and the server.

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