Positioning information processing method and device, electronic equipment, storage medium and program product

Abstract

The invention provides a positioning information processing method and device, electronic equipment, a storage medium and a program product, and is realized through a Beidou equipment terminal, the Beidou equipment terminal comprises a Beidou positioning module integrated with a state grid encryption chip, and the method comprises the following steps: establishing a TCP link with an NTRIP server; sending an identity authentication request to the NTRIP server, and receiving identity authentication information sent by the NTRIP server; in response to determining that the identity authentication information of the NTRIP server passes verification, negotiating with the NTRIP server to obtain a key; establishing a plaintext NTRIP request, and encrypting the plaintext NTRIP request through a state grid encryption chip to obtain a ciphertext NTRIP request; a ciphertext NTRIP request is sent to an NTRIP server side; receiving a ciphertext NTRIP response sent by the NTRIP server side; the cryptograph NTRIP response is decrypted through the state grid encryption chip to obtain a plaintext NTRIP response, the plaintext NTRIP response is analyzed to obtain RTK data, and the RTK data is transmitted to the Beidou positioning module for RTK high-precision calculation to obtain positioning information; and outputting positioning information through the UART interface. According to the invention, the safety of high-precision positioning is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of positioning information processing, and in particular to a positioning information processing method, device, electronic device, storage medium and program product. Background Art

[0002] This section is intended to provide a background or context to the embodiments of the disclosure that are recited in the claims. No description herein is admitted to be prior art by inclusion in this section.

[0003] With the development of positioning technology, high-precision positioning is increasingly used in equipment in various industries. A large number of business scenarios in the power grid also require the use of high-precision positioning technology, such as drone inspections, construction helmets, and vehicle-mounted positioning terminals. In order to improve positioning accuracy, the positioning module needs to have RTK positioning function. RTK data is almost always transmitted over the Internet, so the NTRIP protocol is defined to encapsulate RTK data for network transmission.

[0004] In the related art, NTRIP communication uses plain text transmission without encryption, and identity authentication is performed through a user name plus password.

[0005] However, since the NTRIP transmission protocol in the related art is transmitted in plain text in the network, the data may pass through an insecure network environment, which brings risks to the security and privacy of the data. Summary of the invention

[0006] In view of this, the purpose of the present disclosure is to propose a positioning information processing method, device, electronic device, storage medium and program product, which at least to a certain extent solve one of the technical problems in the related art.

[0007] Based on the above purpose, the first aspect of the exemplary embodiment of the present disclosure provides a positioning information processing method, which is implemented by a Beidou device terminal, wherein the Beidou device terminal includes a Beidou positioning module with an integrated State Grid encryption chip, and the method includes:

[0008] Establish a TCP connection with the NTRIP server;

[0009] Sending an identity authentication request to the NTRIP server, receiving identity authentication information of the NTRIP server for the identity authentication request sent by the NTRIP server, and determining whether the identity authentication information of the NTRIP server passes the verification;

[0010] In response to determining that the identity authentication information of the NTRIP server has passed the verification, performing key negotiation with the NTRIP server to obtain a key;

[0011] Constructing a plaintext NTRIP request, and encrypting the plaintext NTRIP request through the national grid encryption chip to obtain a ciphertext NTRIP request;

[0012] Sending the encrypted NTRIP request to the NTRIP server;

[0013] Receiving a ciphertext NTRIP response to the ciphertext NTRIP request sent by the NTRIP server;

[0014] The ciphertext NTRIP response is decrypted by the national grid encryption chip to obtain a plaintext NTRIP response, the plaintext NTRIP response is parsed to obtain RTK data, and the RTK data is transmitted to the Beidou positioning module for RTK high-precision solution to obtain positioning information;

[0015] The positioning information is output through the UART interface.

[0016] In some exemplary embodiments, establishing a TCP link with an NTRIP server includes:

[0017] Sending a first TCP data packet representing a request to establish a link to the NTRIP server;

[0018] Receive a second TCP data packet sent by the NTRIP server indicating that the connection is agreed to be established;

[0019] A third TCP data packet indicating confirmation of establishing a link is sent to the NTRIP server.

[0020] In some exemplary embodiments, the method for determining the identity authentication information of the NTRIP server includes:

[0021] The NTRIP server receives the identity authentication request sent by the Beidou device terminal;

[0022] Determine whether the client of the Beidou device terminal passes the verification;

[0023] In response to determining that the client of the Beidou device terminal passes the verification, identity authentication information of the NTRIP server is sent to the Beidou device terminal.

[0024] In some exemplary embodiments, encrypting the plaintext NTRIP request by the national grid encryption chip to obtain the ciphertext NTRIP request includes:

[0025] Transmitting the plaintext NTRIP request to the national grid encryption chip via the SPI interface;

[0026] The plaintext NTRIP request is encrypted based on the national grid encryption chip to obtain the ciphertext NTRIP request.

[0027] In some exemplary embodiments, the method for determining the ciphertext NTRIP response includes:

[0028] The NTRIP server receives the encrypted NTRIP request sent by the Beidou device terminal;

[0029] Decrypting the ciphertext NTRIP request to obtain the plaintext NTRIP request;

[0030] Generate RTK data corresponding to the plaintext NTRIP request;

[0031] Encapsulating the RTK data to obtain NTRIP data;

[0032] Encrypting the NTRIP data to obtain the ciphertext NTRIP response;

[0033] Send the encrypted NTRIP response to the Beidou device terminal.

[0034] In some exemplary embodiments, decrypting the ciphertext NTRIP response by the national grid encryption chip to obtain a plaintext NTRIP response includes:

[0035] Transmitting the ciphertext NTRIP response to the national grid encryption chip via the SPI interface;

[0036] The ciphertext NTRIP response is decrypted based on the national grid encryption chip to obtain the plaintext NTRIP response.

[0037] Based on the same inventive concept, the second aspect of the exemplary embodiment of the present disclosure provides a positioning information processing device, which is implemented by a Beidou device terminal, wherein the Beidou device terminal includes a Beidou positioning module with an integrated State Grid encryption chip, and the device includes:

[0038] A link establishment module, configured to establish a TCP link with the NTRIP server;

[0039] an identity authentication module configured to send an identity authentication request to the NTRIP server, receive identity authentication information of the NTRIP server for the identity authentication request sent by the NTRIP server, and determine whether the identity authentication information of the NTRIP server passes the verification;

[0040] A key negotiation module, configured to, in response to determining that the identity authentication information of the NTRIP server has passed the verification, perform key negotiation with the NTRIP server to obtain a key;

[0041] The encryption module of the national grid encryption chip is configured to form a plaintext NTRIP request, and encrypt the plaintext NTRIP request through the national grid encryption chip to obtain a ciphertext NTRIP request;

[0042] A ciphertext NTRIP request module, configured to send the ciphertext NTRIP request to the NTRIP server;

[0043] A ciphertext NTRIP response module, configured to receive a ciphertext NTRIP response to the ciphertext NTRIP request sent by the NTRIP server;

[0044] The Beidou positioning module solution module is configured to decrypt the ciphertext NTRIP response through the national grid encryption chip to obtain a plaintext NTRIP response, perform data analysis on the plaintext NTRIP response to obtain RTK data, and transmit the RTK data to the Beidou positioning module for RTK high-precision solution to obtain positioning information;

[0045] The positioning information output module is configured to output the positioning information through the UART interface.

[0046] Based on the same inventive concept, a third aspect of the exemplary embodiment of the present disclosure provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method described in the first aspect is implemented.

[0047] Based on the same inventive concept, a fourth aspect of the exemplary embodiments of the present disclosure provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method described in the first aspect.

[0048] Based on the same inventive concept, a fifth aspect of the exemplary embodiments of the present disclosure provides a computer program product, including computer program instructions. When the computer program instructions are executed on a computer, the computer executes the method described in the first aspect.

[0049] It can be seen from the above that the positioning information processing method, device, electronic device, storage medium and program product provided by the embodiments of the present disclosure are implemented by a Beidou device terminal, wherein the Beidou device terminal includes a Beidou positioning module with an integrated State Grid encryption chip. The method includes: establishing a TCP link with an NTRIP server; sending an identity authentication request to the NTRIP server, receiving identity authentication information of the NTRIP server for the identity authentication request sent by the NTRIP server, and determining whether the identity authentication information of the NTRIP server has passed the verification; in response to determining that the identity authentication information of the NTRIP server has passed the verification, performing a key exchange with the NTRIP server. Obtain a key through negotiation; construct a plaintext NTRIP request, encrypt the plaintext NTRIP request through the national network encryption chip to obtain a ciphertext NTRIP request; send the ciphertext NTRIP request to the NTRIP server; receive a ciphertext NTRIP response to the ciphertext NTRIP request sent by the NTRIP server; decrypt the ciphertext NTRIP response through the national network encryption chip to obtain a plaintext NTRIP response, perform data analysis on the plaintext NTRIP response to obtain RTK data, transmit the RTK data to the Beidou positioning module for RTK high-precision solution, and obtain positioning information; output the positioning information through the UART interface. Through the present disclosure, the security of high-precision positioning is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the present disclosure or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0051] Figure 1 A schematic diagram of an application scenario of a positioning information processing method provided by an exemplary embodiment of the present disclosure;

[0052] Figure 2 A schematic structural diagram of a Beidou positioning module provided for an exemplary embodiment of the present disclosure;

[0053] Figure 3 A flowchart of a positioning information processing method provided by an exemplary embodiment of the present disclosure;

[0054] Figure 4 Another flowchart of a positioning information processing method provided by an exemplary embodiment of the present disclosure;

[0055] Figure 5A schematic diagram of a structure of a positioning information processing device provided by an exemplary embodiment of the present disclosure;

[0056] Figure 6 A schematic structural diagram of an electronic device provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0057] It is understandable that before using the technical solutions disclosed in the embodiments of this application, the type, scope of use, usage scenarios, etc. of the personal information involved in this application should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0058] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly prompt the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can autonomously choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present application according to the prompt message.

[0059] As an optional but non-limiting implementation, in response to receiving an active request from the user, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0060] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation method of the present application. Other methods that meet the relevant laws and regulations may also be applied to the implementation method of the present application.

[0061] It is understandable that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and relevant provisions.

[0062] In order to make the purpose, technical solutions and advantages of the present disclosure more clear, the principles and spirit of the present disclosure will be described with reference to several exemplary embodiments. It should be understood that these embodiments are provided only to enable those skilled in the art to better understand and implement the present disclosure, and are not intended to limit the scope of the present disclosure in any way. On the contrary, these embodiments are provided to make the present disclosure more thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art.

[0063] It should be understood herein that any number of elements in the drawings is for illustration rather than limitation, and any naming is only for distinction rather than having any limiting meaning.

[0064] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connecting" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly. The article "one" or "a" before an element does not exclude the existence of multiple such elements.

[0065] The principle and spirit of the present disclosure are explained in detail below with reference to several representative embodiments of the present disclosure.

[0066] As described in the background technology, with the development of positioning technology, high-precision positioning is increasingly used in equipment in various industries. A large number of business scenarios in the power grid also require the use of high-precision positioning technology, such as drone inspections, construction helmets, and vehicle-mounted positioning terminals. In order to improve positioning accuracy, the positioning module needs to have RTK positioning function. RTK data is almost always transmitted over the Internet, so the NTRIP protocol is defined to encapsulate RTK data for network transmission.

[0067] In the related art, NTRIP communication uses plain text transmission without encryption, and identity authentication is performed through a user name plus password.

[0068] However, the inventors of the present disclosure have found that the reasons for the low security in the above-mentioned related technologies are:

[0069] The NTRIP transmission protocol is transmitted in plain text on the network, and the data may pass through an insecure network environment, which poses risks to data security and privacy. Once the data is intercepted or tampered with during transmission, it will seriously affect the accuracy and reliability of positioning. Although NTRIP supports username and password authentication to prevent unauthorized access, there is still a risk of being attacked by hackers on the public network. In the power grid, if the RTK data of the high-precision positioning device is attacked on the network, the impact on the power grid will be great.

[0070] In order to solve the above problems, the present disclosure provides a positioning information processing solution, which is implemented by a Beidou device terminal, wherein the Beidou device terminal includes a Beidou positioning module with an integrated State Grid encryption chip. The method specifically includes: establishing a TCP link with an NTRIP server; sending an identity authentication request to the NTRIP server, receiving the identity authentication information of the NTRIP server sent by the NTRIP server for the identity authentication request, and determining whether the identity authentication information of the NTRIP server has passed the verification; in response to determining that the identity authentication information of the NTRIP server has passed the verification, performing key negotiation with the NTRIP server to obtain a key; establishing A plaintext NTRIP request is encrypted by the national grid encryption chip to obtain a ciphertext NTRIP request; the ciphertext NTRIP request is sent to the NTRIP server; a ciphertext NTRIP response to the ciphertext NTRIP request sent by the NTRIP server is received; the ciphertext NTRIP response is decrypted by the national grid encryption chip to obtain a plaintext NTRIP response, data analysis is performed on the plaintext NTRIP response to obtain RTK data, the RTK data is transmitted to the Beidou positioning module for RTK high-precision solution to obtain positioning information; the positioning information is output through the UART interface.

[0071] Through this disclosure, the State Grid encryption chip integrated in the module is used to convert data into ciphertext for network transmission, solving the problem of insecure plaintext transmission when using NTRIP to transmit RTK data in the network. The high-precision positioning equipment in the State Grid is safer to use, reducing the risks caused by insecurity.

[0072] The State Grid encryption chip is integrated into the Beidou positioning module and provided to the outside in the form of an SPI interface, eliminating the need for users to redesign the encryption chip on the baseboard. It is more convenient for users to use it, and there is no need to consider the encryption chip part during hardware design.

[0073] Adopting the State Grid security encryption chip, it complies with the State Grid's security communication requirements: In some communication scenarios of the State Grid, for information security reasons, the State Grid requires that network communication data must be encrypted using Zhixin's hardware encryption chip. This disclosure uses Zhixin's State Grid encryption chip, which complies with the State Grid's security communication requirements.

[0074] After introducing the basic principles of the present disclosure, various non-limiting embodiments of the present disclosure are described in detail below.

[0075] refer to Figure 1 , which is a schematic diagram of an application scenario of the positioning information processing method provided by an exemplary embodiment of the present disclosure.

[0076] This application scenario includes a Beidou device terminal 100 and an NTRIP server 200, which can be connected via a wired or wireless communication network to achieve data interaction.

[0077] Beidou device terminal 100 is a device that uses Beidou satellite navigation system (BDS) for positioning, navigation and communication. In the business scenario of the power grid, Beidou device terminal 100 can be an inspection drone, a construction helmet, a vehicle-mounted positioning terminal, etc. or part of these devices.

[0078] The Beidou device terminal 100 includes a Beidou positioning module 102 , in which a State Grid encryption chip 104 is integrated.

[0079] The Beidou positioning module 102 includes a Beidou chip for high-precision position calculation and positioning.

[0080] The Beidou positioning module 102 integrates the State Grid encryption chip 104 for encrypting and decrypting NTRIP transmission data.

[0081] The NTRIP server 200 can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms.

[0082] refer to Figure 2 , which is a structural diagram of a Beidou positioning module provided by an exemplary embodiment of the present disclosure.

[0083] The State Grid encryption chip is integrated into the Beidou positioning module.

[0084] The Beidou positioning module contains a Beidou chip, which is used for high-precision position calculation and positioning, and provides a UART interface to the outside world.

[0085] The Beidou positioning module integrates the State Grid encryption chip, which is used to encrypt and decrypt NTRIP transmission data and provide an SPI interface to the outside world.

[0086] Combine the following Figure 1 and Figure 2 The positioning information processing method according to the exemplary embodiment of the present disclosure is described by using the application scenario. It should be noted that the above application scenario is only shown to facilitate understanding of the spirit and principle of the present disclosure, and the embodiments of the present disclosure are not limited in this respect. On the contrary, the embodiments of the present disclosure can be applied to any applicable scenario.

[0087] refer to Figure 3 , which is a flow chart of a positioning information processing method provided by an exemplary embodiment of the present disclosure.

[0088] The positioning information processing method is implemented by a Beidou device terminal, wherein the Beidou device terminal includes a Beidou positioning module with an integrated State Grid encryption chip, and the method comprises the following steps:

[0089] Step S210: Establish a TCP link with the NTRIP server.

[0090] Among them, TCP (Transmission Control Protocol) is a connection-oriented, reliable, byte-stream-based transport layer communication protocol. TCP connection is an end-to-end communication link between Beidou device terminals and NTRIP servers, which ensures the reliability and order of data transmission in the network.

[0091] In this exemplary embodiment, the establishment of a TCP link with the NTRIP server includes:

[0092] Sending a first TCP data packet representing a request to establish a link to the NTRIP server;

[0093] Receive a second TCP data packet sent by the NTRIP server indicating that the connection is agreed to be established;

[0094] A third TCP data packet indicating confirmation of establishing a link is sent to the NTRIP server.

[0095] Once the TCP connection is established, the Beidou device terminal and the NTRIP server can start sending data. TCP ensures the order and integrity of the data. If the data packet is lost or damaged, TCP will resend the data.

[0096] Through the above exemplary embodiments, the Beidou device terminal establishes a TCP link with the NTRIP server, which can ensure that data is transmitted from the source to the destination correctly, can ensure that the data packets arrive in the order they are sent, can use the window size mechanism to control the sender's sending rate to avoid the receiver being unable to handle it, can dynamically adjust the sending rate to avoid network congestion, and can enable data to be transmitted simultaneously in two directions.

[0097] Step S220: sending an identity authentication request to the NTRIP server, receiving identity authentication information of the NTRIP server sent by the NTRIP server in response to the identity authentication request, and determining whether the identity authentication information of the NTRIP server passes the verification.

[0098] In this exemplary embodiment, the method for determining the identity authentication information of the NTRIP server includes:

[0099] The NTRIP server receives the identity authentication request sent by the Beidou device terminal;

[0100] Determine whether the client of the Beidou device terminal passes the verification;

[0101] In response to determining that the client of the Beidou device terminal passes the verification, identity authentication information of the NTRIP server is sent to the Beidou device terminal.

[0102] Step S230: In response to determining that the identity authentication information of the NTRIP server has passed the verification, a key negotiation is performed with the NTRIP server to obtain a key.

[0103] Among them, through key negotiation, the Beidou device terminal and the NTRIP server can securely establish a shared secret key on an insecure channel. This key can be used for subsequent encrypted communications to ensure the confidentiality and integrity of the data.

[0104] In this exemplary embodiment, the key negotiation method includes at least one of the following:

[0105] Key negotiation based on asymmetric encryption algorithm: For example, RSA algorithm, NTRIP server will disclose its public key, Beidou device terminal uses this public key to encrypt the generated random session key, and then send it to NTRIP server. NTRIP server uses its own private key to decrypt the session key. This method can prevent attackers from being able to deduce the private key even if they intercept the public key, thus ensuring the security of the key.

[0106] Key negotiation based on the Diffie-Hellman algorithm: This is a key exchange algorithm that allows the Beidou device terminal and the NTRIP server to create a key through an insecure channel without any prior information about the other party. Even if an attacker can monitor the entire communication process, he cannot know the final negotiated key content.

[0107] Key negotiation based on pre-shared key (PSK): Before communication, the Beidou device terminal and the NTRIP server have shared some keys. During the negotiation process, the Beidou device terminal and the NTRIP server determine which pre-shared key to use by exchanging key identifiers (IDs). This method does not require reliance on the public key system or asymmetric encryption, so it performs better during TLS handshake.

[0108] Internet Key Exchange (IKE / IKEv2): This is an online protocol used to create a security association (SA). It is based on the Oakley protocol and the ISAKMP protocol and uses X.509 security authentication.

[0109] Key negotiation in SSL / TLS protocol: During the SSL / TLS handshake process, the Beidou device terminal and the NTRIP server negotiate the encryption algorithm and generate encryption keys through a series of message exchanges. This process includes the authentication of the NTRIP server and the Beidou device terminal, as well as the negotiation of encryption algorithms and keys.

[0110] Step S240: construct a plaintext NTRIP request, and encrypt the plaintext NTRIP request through the national grid encryption chip to obtain a ciphertext NTRIP request.

[0111] In this exemplary embodiment, encrypting the plaintext NTRIP request by the national grid encryption chip to obtain the ciphertext NTRIP request includes:

[0112] Transmitting the plaintext NTRIP request to the national grid encryption chip via the SPI interface;

[0113] The plaintext NTRIP request is encrypted based on the national grid encryption chip to obtain the ciphertext NTRIP request.

[0114] Step S250: Send the encrypted NTRIP request to the NTRIP server.

[0115] Among them, data interaction can be achieved through a wired or wireless communication network connection.

[0116] Step S260: Receive a ciphertext NTRIP response to the ciphertext NTRIP request sent by the NTRIP server.

[0117] In this exemplary embodiment, the method for determining the ciphertext NTRIP response includes:

[0118] The NTRIP server receives the encrypted NTRIP request sent by the Beidou device terminal;

[0119] Decrypting the ciphertext NTRIP request to obtain the plaintext NTRIP request;

[0120] Generate RTK data corresponding to the plaintext NTRIP request;

[0121] Encapsulating the RTK data to obtain NTRIP data;

[0122] Encrypting the NTRIP data to obtain the ciphertext NTRIP response;

[0123] Send the encrypted NTRIP response to the Beidou device terminal.

[0124] Step S270: decrypt the ciphertext NTRIP response through the national grid encryption chip to obtain a plaintext NTRIP response, perform data analysis on the plaintext NTRIP response to obtain RTK data, and transmit the RTK data to the Beidou positioning module for RTK high-precision solution to obtain positioning information.

[0125] In this exemplary embodiment, the decrypting of the ciphertext NTRIP response by the national grid encryption chip to obtain a plaintext NTRIP response includes:

[0126] Transmitting the ciphertext NTRIP response to the national grid encryption chip via the SPI interface;

[0127] The ciphertext NTRIP response is decrypted based on the national grid encryption chip to obtain the plaintext NTRIP response.

[0128] Step S280: output the positioning information through the UART interface.

[0129] Among them, UART (Universal Asynchronous Receiver / Transmitter) is a widely used serial communication protocol for asynchronous communication. It allows different devices to transmit data through serial communication.

[0130] Through the above exemplary embodiments, the positioning information is used to help the user achieve high-precision positioning.

[0131] refer to Figure 4 , which is another flow chart of a positioning information processing method provided by an exemplary embodiment of the present disclosure.

[0132] Among them, the positioning information processing method provided by the present disclosure is introduced in combination with the application scenario of the present disclosure.

[0133] The Beidou device terminal sends an identity authentication request to the NTRIP server;

[0134] The NTRIP server feeds back the identity authentication response to the Beidou device terminal;

[0135] The Beidou device terminal negotiates keys with the NTRIP server;

[0136] The Beidou device terminal sends a ciphertext NTRIP request to the NTRIP server;

[0137] The NTRIP server feeds back a ciphertext NTRIP response to the Beidou device terminal;

[0138] In the process of sending the ciphertext NTRIP request and feeding back the ciphertext NTRIP response:

[0139] Send the plaintext NTRIP request to the module's encryption chip for encryption;

[0140] Send the encrypted NTRIP request to the NTRIP server;

[0141] Receive ciphertext NTRIP response;

[0142] Send the ciphertext NIRPP response to the encryption chip for decryption;

[0143] Parse the plaintext NIRIP response to obtain RTK data and send it to the Beidou module for RTK high-precision solution.

[0144] It can be seen from the above that the positioning information processing method provided by the embodiment of the present disclosure is implemented by a Beidou device terminal, wherein the Beidou device terminal includes a Beidou positioning module with an integrated State Grid encryption chip, and the method includes: establishing a TCP link with an NTRIP server; sending an identity authentication request to the NTRIP server, receiving the identity authentication information of the NTRIP server sent by the NTRIP server for the identity authentication request, and determining whether the identity authentication information of the NTRIP server has passed the verification; in response to determining that the identity authentication information of the NTRIP server has passed the verification, performing key negotiation with the NTRIP server to obtain a key; establishing A plaintext NTRIP request is encrypted by the national grid encryption chip to obtain a ciphertext NTRIP request; the ciphertext NTRIP request is sent to the NTRIP server; a ciphertext NTRIP response to the ciphertext NTRIP request sent by the NTRIP server is received; the ciphertext NTRIP response is decrypted by the national grid encryption chip to obtain a plaintext NTRIP response, data analysis is performed on the plaintext NTRIP response to obtain RTK data, the RTK data is transmitted to the Beidou positioning module for RTK high-precision solution to obtain positioning information; the positioning information is output through the UART interface.

[0145] Through this disclosure, the State Grid encryption chip integrated in the module is used to convert data into ciphertext for network transmission, solving the problem of insecure plaintext transmission when using NTRIP to transmit RTK data in the network. The high-precision positioning equipment in the State Grid is safer to use, reducing the risks caused by insecurity.

[0146] The State Grid encryption chip is integrated into the Beidou positioning module and provided to the outside in the form of an SPI interface, eliminating the need for users to redesign the encryption chip on the baseboard. It is more convenient for users to use it, and there is no need to consider the encryption chip part during hardware design.

[0147] Adopting the State Grid security encryption chip, it complies with the State Grid's security communication requirements: In some communication scenarios of the State Grid, for information security reasons, the State Grid requires that network communication data must be encrypted using Zhixin's hardware encryption chip. This disclosure uses Zhixin's State Grid encryption chip, which complies with the State Grid's security communication requirements.

[0148] It should be noted that the method of the embodiment of the present disclosure can be performed by a single device, such as a computer or a server. The method of the present embodiment can also be applied in a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present disclosure, and the multiple devices will interact with each other to complete the described method.

[0149] It should be noted that the above describes some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0150] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present disclosure also provides a positioning information processing device.

[0151] refer to Figure 5 , a positioning information processing device, comprising the following modules:

[0152] The link establishment module 510 is configured to establish a TCP link with the NTRIP server;

[0153] The identity authentication module 520 is configured to send an identity authentication request to the NTRIP server, receive identity authentication information of the NTRIP server for the identity authentication request sent by the NTRIP server, and determine whether the identity authentication information of the NTRIP server is verified;

[0154] The key negotiation module 530 is configured to, in response to determining that the identity authentication information of the NTRIP server has passed the verification, perform key negotiation with the NTRIP server to obtain a key;

[0155] The national grid encryption chip encryption module 540 is configured to form a plaintext NTRIP request, and encrypt the plaintext NTRIP request through the national grid encryption chip to obtain a ciphertext NTRIP request;

[0156] The encrypted NTRIP request module 550 is configured to send the encrypted NTRIP request to the NTRIP server;

[0157] The ciphertext NTRIP response module 560 is configured to receive a ciphertext NTRIP response to the ciphertext NTRIP request sent by the NTRIP server;

[0158] The Beidou positioning module solution module 570 is configured to decrypt the ciphertext NTRIP response through the national network encryption chip to obtain a plaintext NTRIP response, perform data analysis on the plaintext NTRIP response to obtain RTK data, and transmit the RTK data to the Beidou positioning module for RTK high-precision solution to obtain positioning information;

[0159] The positioning information output module 580 is configured to output the positioning information through the UART interface.

[0160] In some exemplary embodiments, the link establishment module 510 is specifically configured to:

[0161] Sending a first TCP data packet representing a request to establish a link to the NTRIP server;

[0162] Receive a second TCP data packet sent by the NTRIP server indicating that the connection is agreed to be established;

[0163] A third TCP data packet indicating confirmation of establishing a link is sent to the NTRIP server.

[0164] In some exemplary embodiments, the method for determining the identity authentication information of the NTRIP server includes:

[0165] The NTRIP server receives the identity authentication request sent by the Beidou device terminal;

[0166] Determine whether the client of the Beidou device terminal passes the verification;

[0167] In response to determining that the client of the Beidou device terminal passes the verification, identity authentication information of the NTRIP server is sent to the Beidou device terminal.

[0168] In some exemplary embodiments, the national grid encryption chip encryption module 540 is specifically configured as follows:

[0169] Transmitting the plaintext NTRIP request to the national grid encryption chip via the SPI interface;

[0170] The plaintext NTRIP request is encrypted based on the national grid encryption chip to obtain the ciphertext NTRIP request.

[0171] In some exemplary embodiments, the method for determining the ciphertext NTRIP response includes:

[0172] The NTRIP server receives the encrypted NTRIP request sent by the Beidou device terminal;

[0173] Decrypting the ciphertext NTRIP request to obtain the plaintext NTRIP request;

[0174] Generate RTK data corresponding to the plaintext NTRIP request;

[0175] Encapsulating the RTK data to obtain NTRIP data;

[0176] Encrypting the NTRIP data to obtain the ciphertext NTRIP response;

[0177] Send the encrypted NTRIP response to the Beidou device terminal.

[0178] In some exemplary embodiments, the Beidou positioning module solution module 570 is specifically configured as follows:

[0179] Transmitting the ciphertext NTRIP response to the national grid encryption chip via the SPI interface;

[0180] The ciphertext NTRIP response is decrypted based on the national grid encryption chip to obtain the plaintext NTRIP response.

[0181] For the convenience of description, the above device is described by dividing it into various modules according to its functions. Of course, when implementing the present disclosure, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0182] The device of the above embodiment is used to implement the corresponding positioning information processing method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0183] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the positioning information processing method described in any of the above embodiments is implemented.

[0184] Figure 6A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0185] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0186] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0187] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0188] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0189] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0190] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0191] The electronic device of the above embodiment is used to implement the corresponding positioning information processing method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0192] The memory 1020 stores machine-readable instructions executable by the processor 1010. When the electronic device is running, the processor 1010 communicates with the memory 1020 via the bus 1030, so that the processor 1010 executes the following instructions when running:

[0193] Establish a TCP connection with the NTRIP server;

[0194] Sending an identity authentication request to the NTRIP server, receiving identity authentication information of the NTRIP server for the identity authentication request sent by the NTRIP server, and determining whether the identity authentication information of the NTRIP server passes the verification;

[0195] In response to determining that the identity authentication information of the NTRIP server has passed the verification, performing key negotiation with the NTRIP server to obtain a key;

[0196] Constructing a plaintext NTRIP request, and encrypting the plaintext NTRIP request through the national grid encryption chip to obtain a ciphertext NTRIP request;

[0197] Sending the encrypted NTRIP request to the NTRIP server;

[0198] Receiving a ciphertext NTRIP response to the ciphertext NTRIP request sent by the NTRIP server;

[0199] The ciphertext NTRIP response is decrypted by the national grid encryption chip to obtain a plaintext NTRIP response, the plaintext NTRIP response is parsed to obtain RTK data, and the RTK data is transmitted to the Beidou positioning module for RTK high-precision solution to obtain positioning information;

[0200] The positioning information is output through the UART interface.

[0201] In a possible implementation manner, in the instruction executed by the processor 1010, establishing a TCP link with the NTRIP server includes:

[0202] Sending a first TCP data packet representing a request to establish a link to the NTRIP server;

[0203] Receive a second TCP data packet sent by the NTRIP server indicating that the connection is agreed to be established;

[0204] A third TCP data packet indicating confirmation of establishing a link is sent to the NTRIP server.

[0205] In a possible implementation manner, in the instruction executed by the processor 1010, the method for determining the identity authentication information of the NTRIP server includes:

[0206] The NTRIP server receives the identity authentication request sent by the Beidou device terminal;

[0207] Determine whether the client of the Beidou device terminal passes the verification;

[0208] In response to determining that the client of the Beidou device terminal passes the verification, identity authentication information of the NTRIP server is sent to the Beidou device terminal.

[0209] In a possible implementation manner, in the instructions executed by the processor 1010, encrypting the plaintext NTRIP request by the national grid encryption chip to obtain the ciphertext NTRIP request includes:

[0210] Transmitting the plaintext NTRIP request to the national grid encryption chip via the SPI interface;

[0211] The plaintext NTRIP request is encrypted based on the national grid encryption chip to obtain the ciphertext NTRIP request.

[0212] In a possible implementation manner, in the instruction executed by the processor 1010, the method for determining the ciphertext NTRIP response includes:

[0213] The NTRIP server receives the encrypted NTRIP request sent by the Beidou device terminal;

[0214] Decrypting the ciphertext NTRIP request to obtain the plaintext NTRIP request;

[0215] Generate RTK data corresponding to the plaintext NTRIP request;

[0216] Encapsulating the RTK data to obtain NTRIP data;

[0217] Encrypting the NTRIP data to obtain the ciphertext NTRIP response;

[0218] Send the encrypted NTRIP response to the Beidou device terminal.

[0219] In a possible implementation manner, in the instructions executed by the processor 1010, decrypting the ciphertext NTRIP response by the national grid encryption chip to obtain a plaintext NTRIP response includes:

[0220] Transmitting the ciphertext NTRIP response to the national grid encryption chip via the SPI interface;

[0221] The ciphertext NTRIP response is decrypted based on the national grid encryption chip to obtain the plaintext NTRIP response.

[0222] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present disclosure also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the positioning information processing method described in any of the above embodiments.

[0223] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0224] The above-mentioned non-transitory computer-readable storage medium can be any available medium or data storage device that can be accessed by a computer, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage (such as CD, DVD, BD, HVD, etc.), and semiconductor storage (such as ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state drive (SSD)), etc.

[0225] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the positioning information processing method described in any embodiment in the above exemplary method part, and have the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0226] Based on the same inventive concept, corresponding to the positioning information processing method described in any of the above embodiments, the present disclosure also provides a computer program product, which includes computer program instructions. In some embodiments, the computer program instructions can be executed by one or more processors of a computer so that the computer and / or the processor executes the positioning information processing method. Corresponding to the execution subject corresponding to each step in each embodiment of the positioning information processing method, the processor that executes the corresponding step may belong to the corresponding execution subject.

[0227] The computer program product of the above embodiment is used to enable the computer and / or the processor to execute the positioning information processing method described in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0228] Those skilled in the art will appreciate that the embodiments of the present disclosure may be implemented as a system, method, or computer program product. Therefore, the present disclosure may be specifically implemented in the following forms, namely: complete hardware, complete software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, generally referred to herein as a "circuit," "module," or "system." In addition, in some embodiments, the present disclosure may also be implemented in the form of a computer program product in one or more computer-readable media, which contains computer-readable program code.

[0229] Any combination of one or more computer-readable media may be used. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive examples) of computer-readable storage media may include, for example: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device.

[0230] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0231] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0232] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0233] It should be understood that each box in the flowchart and / or block diagram and the combination of boxes in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine, and these computer program instructions are executed by a computer or other programmable data processing device to produce a device that implements the functions / operations specified in the boxes in the flowchart and / or block diagram.

[0234] These computer program instructions may also be stored in a computer-readable medium that enables a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable medium produce a product that includes an instruction device that implements the functions / operations specified in the blocks in the flowchart and / or block diagram.

[0235] Computer program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby enabling the instructions executed on the computer or other programmable device to provide a process for implementing the functions / operations specified in the blocks in the flowchart and / or block diagram.

[0236] In addition, although the operations of the disclosed method are described in a particular order in the accompanying drawings, this does not require or imply that the operations must be performed in this particular order, or that all the operations shown must be performed to achieve the desired results. On the contrary, the steps depicted in the flow chart can be performed in a different order. Additionally or alternatively, some steps can be omitted, multiple steps can be combined into one step, and / or one step can be decomposed into multiple steps.

[0237] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0238] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0239] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application (including the claims) is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0240] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the known power supply / ground connection with the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform to be implemented in the embodiments of the present application (that is, these details should be fully within the scope of understanding of those skilled in the art). In the case of elaborating specific details (e.g., circuits) to describe exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0241] Although the present application has been described in conjunction with specific embodiments of the present application, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0242] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of the present application.

[0243] Although the spirit and principle of the present disclosure have been described with reference to several specific embodiments, it should be understood that the present disclosure is not limited to the disclosed specific embodiments, and the division of various aspects does not mean that the features in these aspects cannot be combined to benefit, and such division is only for the convenience of expression. The present disclosure is intended to cover various modifications and equivalent arrangements included in the spirit and scope of the attached claims. The scope of the attached claims conforms to the broadest interpretation, thereby including all such modifications and equivalent structures and functions.

Claims

1. A positioning information processing method, characterized in that: The method is implemented by a Beidou device terminal, wherein the Beidou device terminal includes a Beidou positioning module integrated with a State Grid encryption chip, and the method includes: Establish a TCP connection with the NTRIP server; Sending an identity authentication request to the NTRIP server, receiving identity authentication information of the NTRIP server for the identity authentication request sent by the NTRIP server, and determining whether the identity authentication information of the NTRIP server passes the verification; In response to determining that the identity authentication information of the NTRIP server has passed the verification, performing key negotiation with the NTRIP server to obtain a key; Constructing a plaintext NTRIP request, and encrypting the plaintext NTRIP request through the national grid encryption chip to obtain a ciphertext NTRIP request; Sending the encrypted NTRIP request to the NTRIP server; Receiving a ciphertext NTRIP response to the ciphertext NTRIP request sent by the NTRIP server; The ciphertext NTRIP response is decrypted by the national grid encryption chip to obtain a plaintext NTRIP response, the plaintext NTRIP response is parsed to obtain RTK data, and the RTK data is transmitted to the Beidou positioning module for RTK high-precision solution to obtain positioning information; The positioning information is output through the UART interface.

2. The method according to claim 1, characterized in that The establishment of a TCP link with the NTRIP server includes: Sending a first TCP data packet representing a request to establish a link to the NTRIP server; Receive a second TCP data packet sent by the NTRIP server indicating that the connection is agreed to be established; A third TCP data packet indicating confirmation of establishing a link is sent to the NTRIP server.

3. The method according to claim 1, characterized in that The method for determining the identity authentication information of the NTRIP server includes: The NTRIP server receives the identity authentication request sent by the Beidou device terminal; Determine whether the client of the Beidou device terminal passes the verification; In response to determining that the client of the Beidou device terminal passes the verification, identity authentication information of the NTRIP server is sent to the Beidou device terminal.

4. The method according to claim 1, characterized in that: The step of encrypting the plaintext NTRIP request by the national grid encryption chip to obtain the ciphertext NTRIP request includes: Transmitting the plaintext NTRIP request to the national grid encryption chip via the SPI interface; The plaintext NTRIP request is encrypted based on the national grid encryption chip to obtain the ciphertext NTRIP request.

5. The method according to claim 1, characterized in that The method for determining the ciphertext NTRIP response includes: The NTRIP server receives the encrypted NTRIP request sent by the Beidou device terminal; Decrypting the ciphertext NTRIP request to obtain the plaintext NTRIP request; Generate RTK data corresponding to the plaintext NTRIP request; Encapsulating the RTK data to obtain NTRIP data; Encrypting the NTRIP data to obtain the ciphertext NTRIP response; Send the encrypted NTRIP response to the Beidou device terminal.

6. The method according to claim 1, characterized in that The decrypting of the ciphertext NTRIP response by the national grid encryption chip to obtain a plaintext NTRIP response includes: Transmitting the ciphertext NTRIP response to the national grid encryption chip via the SPI interface; The ciphertext NTRIP response is decrypted based on the national grid encryption chip to obtain the plaintext NTRIP response.

7. A positioning information processing device, characterized in that: include: A link establishment module, configured to establish a TCP link with the NTRIP server; an identity authentication module configured to send an identity authentication request to the NTRIP server, receive identity authentication information of the NTRIP server for the identity authentication request sent by the NTRIP server, and determine whether the identity authentication information of the NTRIP server passes the verification; A key negotiation module, configured to, in response to determining that the identity authentication information of the NTRIP server has passed the verification, perform key negotiation with the NTRIP server to obtain a key; The encryption module of the national grid encryption chip is configured to form a plaintext NTRIP request, and encrypt the plaintext NTRIP request through the national grid encryption chip to obtain a ciphertext NTRIP request; A ciphertext NTRIP request module, configured to send the ciphertext NTRIP request to the NTRIP server; A ciphertext NTRIP response module, configured to receive a ciphertext NTRIP response to the ciphertext NTRIP request sent by the NTRIP server; The Beidou positioning module solution module is configured to decrypt the ciphertext NTRIP response through the national grid encryption chip to obtain a plaintext NTRIP response, perform data analysis on the plaintext NTRIP response to obtain RTK data, and transmit the RTK data to the Beidou positioning module for RTK high-precision solution to obtain positioning information; The positioning information output module is configured to output the positioning information through the UART interface.

8. An electronic device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method according to any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to cause a computer to execute the method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The method comprises computer program instructions, which, when executed on a computer, cause the computer to execute the method according to any one of claims 1 to 6.

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