Mobile behavior interference method and device, mobile equipment and storage medium

Abstract

The invention discloses a mobile behavior interference method and device, mobile equipment and a storage medium, and relates to the technical field of unmanned equipment. According to the technical scheme, the method comprises the steps that after a positioning system of the mobile equipment is powered on, first position information of the mobile equipment is solved in a self-differential positioning mode, and second position information of the mobile equipment is solved in a precise single-point positioning mode; under the condition that the second position information is not calculated, determining that the first position information is target position information of the mobile equipment, and determining an actual convergence speed of a precise point positioning mode; comparing the actual convergence speed with the expected convergence speed; and under the condition that the actual convergence speed is smaller than the expected convergence speed, interfering with the moving behavior of the mobile equipment. Through the technical means, when the speed or the position of the mobile equipment affects the resolving efficiency of the precise single-point positioning mode, the moving behavior of the mobile equipment is interfered so as to lower the moving speed of the mobile equipment or move the mobile equipment out of the shielding area, and the resolving efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of unmanned equipment technology, and in particular to a mobile behavior interference method, device, equipment and storage medium. Background Art

[0002] With the development of unmanned equipment technology, more and more unmanned equipment is being used for high-altitude operations on various plots, such as spraying or sowing on farmland plots and other plant protection operations. Before performing plant protection operations on the plot, the plot is surveyed by unmanned equipment or surveyors to obtain the location of the plot. Whether it is plant protection or surveying of the plot, the unmanned equipment or surveyor needs to confirm its own location information through the positioning system to fly or determine the location information of the plot based on its own location information. At present, the three mainstream positioning technologies in the field of unmanned equipment are RTK (Real-Time Kinematic) positioning, PPP (Precise Point Positioning) positioning and VRTK (VirtualRTK, virtual RTK or self-differential) positioning. RTK positioning can only be used in a network environment, while PPP positioning and VRTK positioning can be used in a networkless or weak network environment. The initial positioning convergence solution time of PPP positioning is long, but the positioning accuracy is high after successful convergence. The initial positioning convergence solution of VRTK positioning is fast, but over time, due to changes in satellite movement and atmospheric factors, the error will gradually increase, so VRTK positioning can only maintain relatively high accuracy in a short period of time.

[0003] In the related art, when there is no network, the positioning system can perform PPP positioning and VRTK positioning solutions at the same time after it is powered on. VRTK positioning is used to determine the location information of the unmanned equipment or surveyor before the PPP positioning solution is successful, and PPP positioning is used to determine the location information of the unmanned equipment or surveyor after the PPP positioning solution is successful. However, during the solution process of PPP positioning, the solution may fail due to the unmanned equipment or surveyor moving too fast or being in an area with obstructions. This will cause the PPP positioning to fail to be solved successfully after the VRTK positioning diverges, affecting the positioning accuracy of the positioning system, and further affecting the operation accuracy. Summary of the invention

[0004] The present application provides a method, apparatus, mobile device and storage medium for interfering with mobile behavior, so as to monitor the actual convergence speed of the precise point positioning method in real time during the process of solving the problem by the precise point positioning method, and when determining based on the actual convergence speed that the speed or position of the mobile device affects the normal solution of the precise point positioning method, interfere with the mobile behavior of the mobile device to adjust its moving speed or move it out of the blocked area, so as to avoid the failure of the precise point positioning method due to the mobile device moving too fast or being in the blocked area, and ensure that the high-precision precise point positioning is solved before the self-differential positioning diverges, thereby improving the positioning accuracy of the positioning system and ensuring the operation accuracy.

[0005] In a first aspect, the present application provides a mobile behavior interference method, comprising:

[0006] After the positioning system of the mobile device is powered on, the first position information of the mobile device is solved by a self-differential positioning method, and the second position information of the mobile device is solved by a precise single point positioning method;

[0007] In the case where the second position information is not solved, determining the first position information as the target position information of the mobile device, and determining an actual convergence speed of the precise point positioning method;

[0008] comparing the actual convergence rate with the expected convergence rate;

[0009] When the actual convergence speed is less than the expected convergence speed, the movement behavior of the mobile device is interfered with.

[0010] In a second aspect, the present application provides a mobile behavior interference device, comprising:

[0011] A position calculation module is configured to calculate the first position information of the mobile device by a self-differential positioning method and calculate the second position information of the mobile device by a precise single point positioning method after the positioning system of the mobile device is powered on;

[0012] a convergence speed determination module, configured to determine that the first position information is the target position information of the mobile device when the second position information is not solved, and determine an actual convergence speed of the precise point positioning method;

[0013] A convergence speed comparison module, configured to compare the actual convergence speed with an expected convergence speed;

[0014] The mobile interference module is configured to interfere with the mobile behavior of the mobile device when the actual convergence speed is less than the expected convergence speed.

[0015] In a third aspect, the present application provides a mobile device, including:

[0016] One or more processors; a memory storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the mobile behavior interference method as described in the first aspect.

[0017] In a fourth aspect, the present application provides a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to perform the mobile behavior interference method as described in the first aspect.

[0018] In the present application, after the positioning system of the mobile device is powered on, the first position information of the mobile device is solved by the self-differential positioning method and the second position information of the mobile device is solved by the precise single point positioning method. Since the self-differential positioning method has a faster solving speed, it will solve the first position information before the precise single point positioning method solves the second position information. In order to improve the operation efficiency of the mobile device, the mobile device uses the first position information as the target position information for operation before solving the second position information. At the same time, the actual convergence speed of the precise single point positioning method is detected, and by comparing the actual convergence speed with the expected convergence speed, it is determined whether the position or speed of the mobile device affects the normal solution of the precise single point positioning method. When the actual convergence speed is greater than the expected convergence speed, it is determined that the mobile device is moving too fast or is in an obstructed position, causing the convergence speed to slow down, thereby interfering with the movement behavior of the mobile device to adjust its movement speed or move it to an unobstructed position, thereby avoiding the failure of the precise single-point positioning method due to the mobile device moving too fast or being in an obstructed area, ensuring that high-precision precise single-point positioning is solved before the self-differential positioning diverges, thereby improving the positioning accuracy of the positioning system and ensuring the operation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a flow chart of a mobile behavior interference method provided by an embodiment of the present application;

[0020] Figure 2 is a flow chart for determining an expected convergence speed provided by an embodiment of the present application;

[0021] Figure 3 is a schematic diagram of multiple pre-divided regions provided in an embodiment of the present application;

[0022] Figure 4 is a flow chart of interfering with the mobile behavior of a mobile device based on satellite signals provided in an embodiment of the present application;

[0023] Figure 5 is a schematic diagram of the positional relationship between a mobile device and a satellite provided in an embodiment of the present application;

[0024] Figure 6 is one of the schematic diagrams of the display interface of the remote control device provided in the embodiment of the present application;

[0025] Figure 7 This is a second schematic diagram of a display interface of a remote control device provided in an embodiment of the present application;

[0026] Figure 8 is a flow chart of interfering with the movement behavior of a mobile device based on the actual movement speed provided by an embodiment of the present application;

[0027] Fig. 9 is a structural schematic diagram of a mobile behavior interference device provided in an embodiment of the present application;

[0028] Fig.10 It is a structural diagram of a mobile device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for the convenience of description, only the part related to the present application but not all the contents are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow chart describes each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

[0030] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0031] In the relevant implementation, when there is no network, the positioning system can perform PPP positioning and VRTK positioning solutions at the same time after powering on. Before the PPP positioning solution is successful, VRTK positioning is used to determine the location information of the mobile device, and after the PPP positioning solution is successful, PPP positioning is used to determine the location information of the mobile device. However, during the PPP positioning solution, if the mobile device moves too fast, the satellite signal changes quickly, causing the positioning accuracy of PPP positioning to diverge and not converge to the positioning accuracy required by the mobile device. Also, if the mobile device moves to an area with an obstruction, the obstruction is located on the signal transmission path between the mobile device and the satellite, and the mobile device receives the satellite signal at a slow speed, which will also cause the positioning accuracy of PPP positioning to diverge and not converge to the positioning accuracy required by the mobile device. When the PPP positioning fails to solve the required positioning accuracy for a long time, it will confirm that the solution has failed and exit the current solution operation and re-solve. At this time, the mobile device has to wait for the PPP positioning to converge again, so that the PPP positioning has not been successfully solved after the VRTK positioning diverges, and the mobile device can only use the divergent VRTK positioning to operate, affecting the positioning accuracy and operation accuracy of the mobile device. When PPP positioning converges to the positioning accuracy required by the mobile device, the positioning accuracy may gradually diverge to a level lower than the required positioning accuracy due to the mobile device being too fast or being in an area with obstructions. This causes the positioning accuracy of the mobile device to fluctuate during operation, affecting the operating accuracy of the mobile device.

[0032] In order to solve the problems existing in the above implementation, this embodiment provides a method for interfering with mobile behavior, so as to monitor the actual convergence speed of the precise single-point positioning method in real time during the process of solving the problem through the precise single-point positioning method, and to interfere with the mobile behavior of the mobile device to adjust its moving speed or move it out of the obstruction area when the speed or position of the mobile device affects the normal solution of the precise single-point positioning method based on the actual convergence speed, so as to avoid the failure of the precise single-point positioning method due to the mobile device moving too fast or being in the obstruction area, and ensure that the high-precision precise single-point positioning is solved before the self-differential positioning diverges, so as to improve the positioning accuracy of the positioning system and ensure the operation accuracy. In addition, after the precise single-point positioning method successfully solves the high-precision coordinates, the positioning accuracy of the high-precision coordinates is detected, so as to interfere with the mobile behavior of the mobile device to adjust its moving speed or move it out of the obstruction area when the positioning accuracy is lower than the set value, so that the positioning accuracy of the mobile device during the operation is maintained at a high level, and the operation accuracy of the mobile device is improved.

[0033] The mobile behavior interference method provided in this embodiment can be executed by a mobile behavior interference device, which can be implemented by software and / or hardware, and can be composed of two or more physical entities, or can be composed of one physical entity. For example, the mobile behavior interference device can be a mobile device, and the mobile device can be an unmanned device and a surveyor. When the mobile device is an unmanned device, it can be used to perform high-altitude operation tasks such as plant protection or surveying, and when the mobile device is a surveyor, it can be used for surveying.

[0034] The mobile behavior interference device is installed with at least one type of operating system. The mobile behavior interference device can install at least one application based on the operating system. The application can be an application that comes with the operating system or an application downloaded from a third-party device or server. In this embodiment, the mobile behavior interference device has at least an application that can execute the mobile behavior interference method.

[0035] For ease of understanding, this embodiment is described by taking a mobile device as an example of a subject that executes the mobile behavior interference method.

[0036] Figure 1 A flow chart of a mobile behavior interference method provided by an embodiment of the present application is given. Figure 1 , the mobile behavior interference method specifically includes:

[0037] S110, after the positioning system of the mobile device is powered on, first position information of the mobile device is solved by a self-differential positioning method, and second position information of the mobile device is solved by a precise single-point positioning method.

[0038] Exemplarily, when the mobile device performs an operation task, the mobile device is started to power on the positioning system of the mobile device. After the positioning system of the mobile device is powered on, the coordinates of the location of the mobile device are solved by self-differential positioning and precise single-point positioning respectively.

[0039] Among them, the first position information is the coordinates of the location of the mobile device calculated by self-differential positioning. Self-differential positioning is also called VRTK positioning, which can also be called single-point smooth positioning. It can solve the position through the reference point of the current location of the device. The position solved by VRTK positioning is a relative coordinate, not a real coordinate. It determines the predicted distance between the device and the satellite based on the current position coordinates and the coordinates of the satellite at the current moment, and determines the differential correction value based on the predicted distance and pseudo-range measurement value. The differential correction value is used to determine the position coordinates of the device at any at least one future moment after the current moment. The self-differential positioning method has a simple solution process and a fast solution speed, and can quickly calculate the first position information of the mobile device.

[0040] The second location information is the coordinates of the location of the mobile device obtained by solving the precise single-point positioning method. At present, satellite systems such as GPS (Global Positioning System) and Beidou system support PPP services. This embodiment describes the PPP service supported by the Beidou system as an example. The Beidou satellite system uses PPP-B2b (a high-precision signal) signal as a data broadcast channel. The three GEO (geosynchronous orbit) satellites of Beidou-3 broadcast the orbit and clock correction information of other global satellite navigation systems of the Beidou-3 system, which can provide open and free high-precision positioning services for mobile devices. When the mobile device uses the precise single-point positioning method for solving, the mobile device receives the correction information sent by the GEO satellite through the PPP-B2b signal, and calculates the second location information of the mobile device according to the correction information. It should be noted that the positioning accuracy of the second location information obtained by the precise single-point positioning method at the beginning of the solution is low, and the positioning accuracy of the second location information solved thereafter continues to converge. When the positioning accuracy converges to the preset positioning accuracy, the precise single-point positioning method successfully solves the high-precision second location information.

[0041] S120: When the second position information is not solved, determine that the first position information is the target position information of the mobile device, and determine the actual convergence speed of the precise single-point positioning method.

[0042] The target position information is the positioning coordinates used by the mobile device when performing the operation task. Although the mobile device is solved by both the self-differential positioning method and the precise single-point positioning method after the positioning system is powered on, the positioning accuracy of the second position information initially solved by the precise single-point positioning method is lower than the positioning accuracy of the first position information solved by the self-differential positioning method. Therefore, before the precise single-point positioning method successfully solves the second position information that meets the convergence condition, the first position information is determined as the target position information of the mobile device, so that the mobile device uses the first position information to perform the operation task.

[0043] When the mobile device is an unmanned device, the tasks it can perform include plant protection tasks and surveying tasks. The plant protection tasks include tasks such as the mobile device spreading pesticides or fertilizers on crops in the work plot, and the surveying tasks are for the mobile device to fly to the boundary points of the work plot to mark points to collect the actual coordinates of the work plot. When the mobile device is a surveyor, the tasks it can perform include surveying tasks.

[0044] For example, when a mobile device performs a sowing task, the mobile device plans a corresponding working route based on the location information of the working plot, and the mobile device controls itself to fly along the working route based on the target location information and spreads pesticides or fertilizers to the working plot below. When a mobile device performs a surveying task, the mobile device moves to each boundary point of the working plot under the control of the user to mark the boundary points, and the target location information of the mobile device is determined as the marking coordinates of the corresponding boundary points during the marking. In the case where the precise single-point positioning method has not yet solved the second location information that meets the preset positioning accuracy, the mobile device flies along the working route or marks the working plot based on the first location information solved by the self-differential positioning method.

[0045] When the mobile device performs a task based on the first position information, it may move too fast or enter an obstructed area, which may slow down the convergence speed of the precise point positioning method and prolong the solution time. In order to avoid the problem of the precise point positioning method failing to solve the second position information for a long time, the mobile device monitors the actual convergence speed of the precise point positioning method in real time before the precise point positioning method fails to solve the second position information, and compares the actual convergence speed with the expected convergence speed to determine whether the speed or position of the mobile device affects the solution efficiency of the precise point positioning method.

[0046] Mobile devices can use the precise single-point positioning method to solve the positioning error in real time during the process and monitor the actual convergence speed of the precise single-point positioning method. Among them, the positioning error can be understood as the difference between the coordinates solved by the precise single-point positioning method and the actual coordinates. The positioning error can characterize the positioning accuracy of the precise single-point positioning method. For example, when the positioning accuracy is 10cm, it means that the deviation between the coordinates solved by the precise single-point positioning method and the actual coordinates is about 10cm. For example, the actual convergence speed of the precise single-point positioning method can be determined based on the positioning error of the coordinates most recently solved by the precise single-point positioning method and the total solution time of the precise single-point positioning method.

[0047] Optionally, the mobile device can also obtain the positioning error of the precise single-point positioning method, and determine the actual convergence speed according to the change information of the positioning error. Exemplarily, the error change value at two moments can be determined according to the positioning error of the precise single-point positioning method at the current moment and the positioning error at the previous moment, and the ratio of the error change value to the time interval between the current moment and the previous moment is determined as the time convergence speed of the precise single-point positioning method. Furthermore, in order to obtain a more stable actual convergence speed, the actual convergence speed can be determined based on the change information of the positioning error within a preset time period, and the preset time period is a time period corresponding to a preset time length from the current moment. A linear function corresponding to the positioning error fitting of the precise single-point positioning method within the preset time period is determined, and the actual convergence speed is determined based on the slope of the linear function.

[0048] It should be noted that when the positioning error of the precise single-point positioning method gradually converges, that is, gradually decreases, it is considered a normal solution. When the positioning error of the precise single-point positioning method gradually converges, its actual convergence speed can be calculated. When the positioning error of the precise single-point positioning method diverges, the solution abnormality is determined, thereby interfering with the mobile device of the mobile device. Specifically, it is determined whether the change trend of the positioning error of the precise single-point positioning method is divergent or convergent. If the change trend is convergent, the actual convergence speed of the precise single-point positioning method is determined. If the change trend is divergent, the mobile behavior of the mobile device is interfered with.

[0049] S130: Compare the actual convergence speed with the expected convergence speed.

[0050] Exemplarily, after determining the actual convergence speed, the mobile device compares the actual convergence speed with the expected convergence speed, thereby determining whether the speed or position of the mobile device affects the solution rate of the precise single-point positioning method. The expected convergence speed is the convergence speed of the mobile device when the precise single-point positioning method is not affected by obstructions and movement speed during operation. It can be understood that when the actual convergence speed is or is equal to the expected convergence speed, it indicates that the convergence speed of the precise single-point positioning method is not reduced by the speed or position of the mobile device, that is, it is determined that the speed of the mobile device is not too fast and the position is not in the obstruction area. When the actual convergence speed is less than the expected convergence speed, it indicates that the convergence speed of the precise single-point positioning method is reduced due to the speed or position of the mobile device, that is, it is determined that the speed of the mobile device is too fast or the position is in the obstruction area.

[0051] The expected convergence speed may be preset by the user, or determined based on the convergence speed of the precise point positioning method when other mobile devices operate on the same operation site. In one example, the expected convergence speed may be an interval, and if the actual convergence speed is less than the lower limit of the interval, it is determined that the actual convergence speed is less than the expected convergence speed.

[0052] Optionally, the expected convergence speeds for different regions are different. For example, in some regions, the number of available satellites is large, and the convergence speed of the precise point positioning method is fast, while in other regions, the number of available satellites is small, and the convergence speed of the precise point positioning method is slow. The expected convergence speed can be determined based on the region where the mobile device is located. For example, Figure 2 is a flow chart of determining the expected convergence speed provided by an embodiment of the present application. Figure 2 As shown, the step of determining the expected convergence speed specifically includes S1301-S1302:

[0053] S1301. Determine a location of a mobile device according to first location information.

[0054] Exemplarily, the location of the mobile device is determined based on the first location information calculated using a differential positioning method. Figure 3 Schematic diagram of multiple pre-divided regions provided in an embodiment of the present application. Figure 3 As shown, the region is pre-divided into three areas: region A, region B, and region C. If the first location information falls within the location range of region A, it is determined that the location of the mobile device is region A.

[0055] Optionally, in addition to determining the location of the mobile device based on the first location information, the location of the mobile device when performing the operation may also be determined based on the location of the operation plot.

[0056] S1302: Determine an expected convergence speed according to the location of the mobile device.

[0057] For example, the convergence speed of the mobile device when it moves at a normal speed in each region and is in an unobstructed position can be tested in advance, and the convergence speed obtained by the test is used as the expected convergence speed of the corresponding region, and the corresponding relationship between the region and the corresponding expected convergence speed is saved in the mobile device. The mobile device can obtain the corresponding associated saved expected convergence speed based on the current region.

[0058] Optionally, the expected convergence speed of the mobile device may be determined according to the number of satellites in the area where the mobile device is located. For example, when the number of satellites in the mission area of ​​the mobile device is greater than or equal to a preset number threshold, the expected convergence speed is determined to be a first preset speed, and when the number of satellites in the mission area of ​​the mobile device is less than a preset number threshold, the expected convergence speed is determined to be a second preset speed, and the first preset speed is greater than the second preset speed. Figure 3 When the mobile device 11 is in area A, it is determined that the number of satellites 12 in area A is N, and N is greater than the preset number threshold M, then the convergence speed of the precise point positioning method is determined to be the first preset speed. When the mobile device 11 is in area B, it is determined that the number of satellites 12 in area B is K, and K is less than the preset number threshold M, then the expected convergence speed is determined to be the second preset speed.

[0059] S140: When the actual convergence speed is lower than the expected convergence speed, interfering with the movement behavior of the mobile device.

[0060] Exemplarily, when the actual convergence speed is less than the expected convergence speed, it is determined that the mobile device is moving too fast or is in an obstructed position. At this time, the movement behavior of the mobile device can be interfered with to reduce the moving speed of the mobile device or transfer the mobile device to an unobstructed position, thereby reducing the impact of the speed or position of the mobile device on the solution efficiency of the precise single-point positioning method, improving the convergence speed of the precise single-point positioning method, and ensuring that high-precision precise single-point positioning is solved before the self-differential positioning diverges.

[0061] When interfering with the movement behavior of the mobile device, the movement behavior of the mobile device may be adjusted automatically, or the user may be prompted to manually adjust the movement behavior of the mobile device.

[0062] It should be noted that when the mobile device is a handheld surveyor, it does not have the function of automatically adjusting its own movement behavior, so the prompt information is used to prompt the user to manually adjust the speed or position of the handheld surveyor. When the mobile device is an unmanned device, it has the function of automatically adjusting its own movement behavior, so it can automatically adjust its own movement behavior or prompt the user to manually control it to adjust its own movement behavior.

[0063] Optionally, when automatically adjusting the movement behavior of the mobile device, the movement speed of the mobile device may be reduced, or the mobile device may be controlled to move to an unobstructed position. For example, when the mobile device is an unmanned device, when the unmanned device determines that the actual convergence speed is less than the expected convergence speed, the motor is controlled to decelerate so as to reduce its own movement speed, or the movement direction is adjusted to move to an unobstructed position.

[0064] When prompting the user to adjust the movement behavior of the mobile device, a prompt message may be generated to prompt the user to interfere with the movement behavior of the mobile device. Exemplarily, when the mobile device determines that the actual convergence speed is less than the expected convergence speed, a deceleration prompt message is generated to notify the user to control the mobile device to decelerate through the deceleration prompt message, or an area transfer prompt message is generated to notify the user to control the mobile device to move to an unobstructed position through the area transfer prompt message. The deceleration prompt message is used to prompt the user to reduce the movement speed of the mobile device; the area transfer prompt message is used to prompt the user to move the mobile device to an unobstructed position.

[0065] It should be noted that when a mobile device is moving at high speed, simply moving it to an unobstructed position will not help much in improving the convergence speed of the precise point positioning method. When a mobile device is in an obstructed position, simply reducing the mobile device's movement speed will not help much in improving the convergence speed of the precise point positioning method. In this regard, based on the current speed and position of the mobile device, the key factors affecting the convergence speed of the precise point positioning method can be analyzed, so as to make targeted interference with the movement behavior of the mobile device, effectively reduce the impact of the speed or position of the mobile device on the precise point positioning method, and thus significantly improve the convergence speed of the precise point positioning method.

[0066] Generally speaking, the speed and position of unmanned equipment during operation are determined by its operation type or operation plot, and the movement behavior of the mobile device can be interfered with based on the operation type or operation plot. For example, when the operation type is spraying pesticides on plants in farmland, there are fewer obstructions in the farmland, and the unmanned equipment will not be in an obstructed position. Therefore, it can be determined that the speed of the unmanned equipment is a key factor affecting the precise single-point positioning method. At this time, the moving speed of the unmanned equipment can be interfered with, that is, the moving speed of the mobile device can be reduced, or a deceleration prompt message can be generated to notify the user to control the mobile device to slow down through the deceleration prompt message. When the operation type is spraying liquid on the trunk of a fruit tree, there are many obstructions in the woods and the unmanned equipment will not fly at high speed to avoid obstacles. Therefore, it can be determined that the position of the unmanned equipment is a key factor affecting the precise single-point positioning method. At this time, the position of the unmanned equipment can be interfered with, that is, the mobile device can be controlled to move to an unobstructed position, or a regional transfer prompt message can be generated to notify the user to control the mobile device to move to an unobstructed position through the regional transfer prompt message.

[0067] In addition, the movement behavior of the mobile device may be interfered with according to the satellite signal received by the mobile device and / or the actual movement speed of the mobile device.

[0068] For example, when a mobile device is in an obstructed position, the obstruction is located on the signal transmission path between the mobile device and the satellite, and the obstruction will affect the satellite signal normally received by the mobile device. Therefore, it is possible to determine whether the mobile device is in an obstructed position based on the satellite signal received by the mobile device, and to interfere with the movement of the mobile device accordingly based on the determination result. Specifically, Figure 4 FIG. 1 is a flow chart of interfering with the mobile behavior of a mobile device based on satellite signals provided in an embodiment of the present application. Figure 4 As shown, the step of interfering with the mobile behavior of the mobile device based on the satellite signal specifically includes S1401-S1403:

[0069] S1401. Determine whether the mobile device is in a blocked position according to the number and strength of satellite signals received by the mobile device.

[0070] For example, Figure 5 Schematic diagram of the positional relationship between a mobile device and a satellite provided in an embodiment of the present application. Figure 5As shown, when the mobile device 11 is located below the shielding object 13, the shielding object 13 is located on the signal transmission path between the mobile device 11 and the satellite 12. The thickness of the shielding object 13 on the signal transmission path between the mobile device 11 and the satellite A is relatively large, and the satellite signal sent by the satellite A cannot be smoothly transmitted to the mobile device 11, resulting in the mobile device 11 not receiving the satellite signal sent by the satellite A. The thickness of the shielding object 13 on the signal transmission path between the mobile device 11 and the satellite B is relatively small, and the signal sent by the satellite B is attenuated by the shielding object 13 and then transmitted to the mobile device 11, resulting in the signal strength of the satellite signal sent by the satellite B received by the mobile device 11 being relatively small. When the mobile device 11 is not located below the shielding object 13, the shielding object 13 is not located on the signal transmission path between the mobile device 11 and the satellite 12. The satellite signals sent by the satellites A and B can be normally transmitted to the mobile device 11 and the signal attenuation is relatively small, that is, the number of satellite signals received by the mobile device 11 is relatively large and the signal strength is relatively large. Therefore, it can be determined whether the mobile device is in a shielded position based on the number and strength of the satellite signals received by the mobile device.

[0071] For example, when the number of satellite signals received by the mobile device is less than a preset number threshold, and the signal strength of the satellite signals received by the mobile device is less than a preset strength threshold, it is determined that there is an obstruction on the signal transmission path between the mobile device and the satellite, that is, it is determined that the mobile device is in an obstructed position. When the number of satellite signals received by the mobile device is greater than or equal to the preset number threshold, and the satellite signal strength received by the mobile device is greater than or equal to the preset strength threshold, it is determined that there is no obstruction on the signal transmission path between the mobile device and the satellite, that is, it is determined that the mobile device is in an unobstructed position. Among them, the preset number threshold is the number of satellite signals received by the mobile device at least when it is in an unobstructed position, and the preset strength threshold is the minimum signal strength of the satellite signals received by the mobile device when it is in an unobstructed position. It should be noted that since different numbers of satellites are set in different regions, different preset number thresholds can be set for different regions. First, the region where the mobile device is located is determined according to the first location information of the mobile device, so as to obtain the preset number threshold corresponding to the region.

[0072] S1402: When the mobile device is in an obstructed position, control the mobile device to move to an unobstructed position, or generate area transfer prompt information, where the area transfer prompt information is used to prompt the user to move the mobile device to an unobstructed position.

[0073] Exemplarily, when the mobile device is in an obstructed position, it indicates that the obstruction is a key factor affecting the convergence speed of the precise single-point positioning method, and therefore the position of the mobile device needs to be interfered with, that is, the mobile device needs to be transferred to an unobstructed position.

[0074] In the case where the mobile device is an unmanned device, when the unmanned device detects that it is in an obstructed position, it can automatically move to an unobstructed position. For example, the unmanned device can turn on the camera, identify the unobstructed area through the environmental image captured by the camera, adjust the moving direction according to the orientation of the unobstructed area to move to the unobstructed area, and realize the mobile device to move to the unobstructed position. Alternatively, the unmanned device detects the unobstructed area with a radar, and adjusts the moving direction according to the orientation of the unobstructed area to move to the unobstructed area.

[0075] When the mobile device is an unmanned device or a surveyor, the mobile device can generate area transfer prompt information and send the area transfer prompt information to the corresponding connected remote control device, so as to prompt the user to move the mobile device out of the current obstructed position through the remote control device, so that the mobile device can be transferred to an unobstructed position.

[0076] For example, Figure 6 1 is one of the schematic diagrams of the display interface of the remote control device provided in the embodiment of the present application. Figure 6 As shown, when the mobile device is an unmanned device, the mobile device generates area transfer prompt information when it detects that it is in an obstructed position, and sends the area transfer prompt information to the remote control device. The remote control device displays the area transfer prompt information through a window and displays a selection control for whether to transfer the mobile device. When the user selects the selection control, the remote control device displays Figure 6 The display interface 14 is shown. The display interface 15 displays a satellite map 15, an icon of the mobile device 11, and a joystick control 17. The satellite map 15 displays an obstruction area 16 covered by an obstruction, and the user can use the joystick control 17 to control the mobile device 11 to fly out of the obstruction area 16 to transfer to an unobstructed position. For example, the right front of the mobile device 11 is an unobstructed area. The user clicks the forward arrow and the right arrow in the joystick control 17 in sequence to input the corresponding operation to the remote control device. The remote control device generates a corresponding movement control instruction based on the operation, and sends the movement control instruction to the mobile device 11, so that the mobile device 11 first flies forward and then flies right based on the movement control instruction, thereby transferring to an unobstructed position.

[0077] Optionally, in addition to assisting the user in manipulating the unmanned device to move to an unobstructed location through satellite maps, the remote control device can also assist the user in manipulating the mobile device to move to an unobstructed location through images captured by the camera of the unmanned device. For example, the unmanned device turns on the camera and transmits the real-time recorded images of the camera to the remote control device for display, and the user controls the unmanned device to move to an unobstructed location based on the images displayed by the remote control device.

[0078] Figure 7 FIG. 2 is a second schematic diagram of a display interface of a remote control device provided in an embodiment of the present application. Figure 7As shown, when the mobile device is a surveyor, when the mobile device detects that it is in an obstructed position, it generates a region transfer prompt information, and sends the region transfer prompt information to the remote control device. The remote control device displays the region transfer prompt information through a window and displays a selection control for whether to transfer the mobile device. When the user selects the selection control, the remote control device displays Figure 7 The display interface 14 is shown. The display interface 14 displays a satellite map 15 and an icon of a mobile device 11. The user can enter an unobstructed position to which the mobile device 11 is to be transferred in the satellite map 11. For example, when the user clicks point D as the unobstructed position, the remote control device automatically plans a moving route 18 from the mobile device 11 to point D. The user can transfer the mobile device 11 to the corresponding set unobstructed position based on the moving route 18.

[0079] S1403: When the mobile device is not in the blocked area, reduce the moving speed of the mobile device or generate deceleration prompt information, where the deceleration prompt information is used to prompt the user to reduce the moving speed of the mobile device.

[0080] For example, when the mobile device is not in the blocked area, it indicates that the mobile device's moving speed is too fast, which is a key factor affecting the convergence speed of the precise single-point positioning method. Therefore, the moving speed of the mobile device is interfered with, that is, the moving speed of the mobile device is reduced.

[0081] When the mobile device is an unmanned device, the unmanned device can automatically decelerate its flight to reduce the moving speed when it detects that it is not in an obstructed position. When the mobile device is an unmanned device or a surveyor, the mobile device can generate deceleration prompt information and send the deceleration prompt information to the corresponding connected remote control device, so as to prompt the user to reduce the moving speed of the mobile device through the remote control device.

[0082] When the mobile device moves at high speed, the actual moving speed of the mobile device may exceed the preset speed threshold, and the mobile device may be interfered with accordingly according to the comparison result between the actual moving speed and the preset speed threshold. Figure 8 FIG. 1 is a flow chart of interfering with the mobile behavior of a mobile device based on the actual mobile speed provided by an embodiment of the present application. Figure 8 As shown, the step of interfering with the moving behavior of the mobile device based on the actual moving speed specifically includes S1404-S1406:

[0083] S1404: Compare the actual moving speed of the mobile device with a preset speed threshold.

[0084] Exemplarily, the actual moving speed of the mobile device is detected by a speed sensor, and the actual moving speed is compared with a preset speed threshold. The preset speed threshold can be understood as the moving speed of the mobile device under the normal convergence speed of the precise point positioning algorithm. When the actual moving speed of the mobile device exceeds the preset speed threshold, it indicates that the convergence speed of the precise point positioning algorithm is affected by the moving speed and is reduced, so the moving speed of the mobile device needs to be reduced; when the actual moving speed of the mobile device does not exceed the preset speed threshold, it indicates that the convergence speed of the precise point positioning algorithm is not affected by the moving speed, so there is no need to reduce the moving speed of the mobile device.

[0085] S1405: When the actual moving speed is greater than a preset speed threshold, reduce the moving speed of the mobile device, or generate a deceleration prompt message.

[0086] For example, when the actual moving speed is greater than the preset speed threshold, it indicates that the moving speed of the mobile device is too fast, which is a key factor affecting the convergence speed of the precise point positioning method. Therefore, the moving speed of the mobile device is interfered with, that is, the moving speed of the mobile device is lowered. The operation of interfering with the moving speed of the mobile device can be referred to step S1403, which will not be repeated here.

[0087] S1406: When the actual moving speed is less than or equal to the preset speed threshold, control the mobile device to move to an unobstructed position, or generate area transfer prompt information, where the area transfer prompt information is used to prompt the user to move the mobile device to an unobstructed position.

[0088] For example, when the actual moving speed is less than or equal to the preset speed threshold, it indicates that the obstruction is a key factor affecting the convergence speed of the precise single point positioning method, so it is necessary to interfere with the position of the mobile device, that is, to move the mobile device to an unobstructed position. The operation of interfering with the position of the mobile device can be referred to step S1402, which will not be repeated here.

[0089] When interfering with the mobile behavior of the mobile device based on the satellite signals received by the mobile device and the actual moving speed of the mobile device, the first influence coefficient of the position of the mobile device on the precise point positioning method can be determined based on the number and strength of the satellite signals, and the second influence coefficient of the speed of the mobile device on the precise point positioning method can be determined based on the actual moving speed. When the first influence coefficient is greater than the second influence coefficient, it is determined that the position of the mobile device is a key factor affecting the precise point positioning method, thereby interfering with the position of the mobile device. When the second influence coefficient is greater than the first influence coefficient, it is determined that the speed of the mobile device is a key factor affecting the precise point positioning method, thereby interfering with the position of the mobile device.

[0090] In another embodiment, in addition to determining whether the position of the mobile device affects the convergence speed of the precise single-point positioning method through satellite signals and / or actual moving speed, the surrounding environment image can be captured by the camera of the mobile device, and based on the surrounding environment image, it can be determined whether the mobile device is in an obstructed position. When the mobile device is in an obstructed position, the position of the mobile device is interfered with, and when the mobile device is not in an obstructed position, the speed of the mobile device is interfered with.

[0091] When the speed or position of the mobile device is interfered with, the convergence speed of the precise single-point positioning method is accelerated, and the precise single-point positioning method can solve the second position information that meets the preset positioning accuracy before the coordinates solved by the self-differential positioning method diverge.

[0092] Further, when the second location information is solved, the target location information of the mobile device is determined based on the second location information. Exemplarily, when the second location information meets the preset positioning accuracy, the mobile device switches from executing the operation task using the first location information solved by the self-differential positioning method to executing the operation task using the second location information solved by the precise single-point positioning method, thereby ensuring the execution accuracy of the operation task.

[0093] For example, when the mobile device performs a sowing task, if the mobile device determines that the second position information meets the preset positioning accuracy, the second position information is used as the target position information, and based on the target position information, the mobile device controls itself to fly along the operation route and spread pesticides or fertilizers to the operation plot below. When the mobile device performs a surveying task, if the mobile device determines that the second position information meets the preset positioning accuracy, the second position information is used as the target position information, and the boundary points at the corresponding positions are marked based on the target position information, and the target position information of the mobile device is determined as the marking coordinates of the corresponding boundary points during the marking process.

[0094] It should be noted that the benchmarks of the self-differential positioning method and the precise single-point positioning method are different, and the positioning deviation between the two may be large, so that after the mobile device switches from the self-differential positioning method to the precise single-point positioning method, the target position information will have a coordinate jump. In this regard, when the mobile device switches from the self-differential positioning method to the precise single-point positioning method, the second position information calculated by the precise single-point positioning method can be converted to the benchmark of the self-differential positioning method to avoid coordinate jumps that affect the task execution accuracy of the mobile device. Specifically, the offset between the first position information and the second position information is determined, and the target position information of the mobile device is determined based on the offset and the second position information. For example, after the second position information meets the convergence condition, the first position information and the second position information solved by the mobile device at the same position are (lat1, log1, alt1) and (lat2, log2, alt2), respectively. The first position information is subtracted from the second position information to obtain the offset (lat1-lat2, log1-log2, alt1-alt2). Then, the second position information solved at each position is added with the offset (lat1-lat2, log1-log2, alt1-alt2) to obtain the target position information based on the self-differential positioning method, thereby ensuring that the mobile device remains under the same benchmark during the operation, thereby improving the operation accuracy of the mobile device.

[0095] It should be noted that after the mobile device calculates the second position information through the precise single-point positioning method, the positioning accuracy of the second position information will gradually diverge due to the speed or position of the mobile device, and eventually be lower than the preset positioning accuracy, affecting the operating accuracy of the mobile device. In this regard, after the second position information is calculated, the positioning accuracy of the second position information can be monitored in real time; when the positioning accuracy is less than the preset positioning accuracy, the movement behavior of the mobile device is interfered with. For example, after the mobile device calculates the second position information that meets the preset positioning accuracy through the precise single-point positioning method, the positioning accuracy of the second position information is monitored in real time and compared with the preset positioning accuracy. Once it is detected that the positioning accuracy of the second position information is less than the preset positioning accuracy, it is determined that the speed or position of the current mobile device affects the positioning accuracy of the second position information obtained by the precise single-point positioning method, thereby interfering with the movement behavior of the mobile device, thereby restoring the positioning accuracy of the mobile device to above the preset positioning accuracy, and improving the operating accuracy of the mobile device.

[0096] Optionally, when the positioning accuracy is less than the preset positioning accuracy, interfering with the movement of the mobile device is also a key factor in determining the convergence speed of the precise single-point positioning method, which is the speed or position of the mobile device, so as to make targeted interference with the movement of the mobile device. The specific implementation process can refer to the embodiment of interfering with the movement of the mobile device described in step S140, which will not be repeated here.

[0097] In summary, the mobile behavior interference method provided in the embodiment of the present application solves the first position information of the mobile device by the self-differential positioning method and solves the second position information of the mobile device by the precise single-point positioning method after the positioning system of the mobile device is powered on. Since the self-differential positioning method has a faster solving speed, it will solve the first position information before the precise single-point positioning method solves the second position information. In order to improve the operation efficiency of the mobile device, the mobile device uses the first position information as the target position information for operation before solving the second position information. At the same time, the actual convergence speed of the precise single-point positioning method is detected, and the position or speed of the mobile device is judged by comparing the actual convergence speed with the expected convergence speed to determine whether the normal solution of the precise single-point positioning method is affected by the position or speed of the mobile device. When the actual convergence speed is greater than the expected convergence speed, it is determined that the mobile device is moving too fast or is in an obstructed position, causing the convergence speed to slow down, thereby interfering with the movement behavior of the mobile device to adjust its movement speed or move it to an unobstructed position, thereby avoiding the failure of the precise single-point positioning method due to the mobile device moving too fast or being in an obstructed area, ensuring that high-precision precise single-point positioning is solved before the self-differential positioning diverges, thereby improving the positioning accuracy of the positioning system and ensuring the operation accuracy.

[0098] Based on the above embodiments, Fig. 9 This is a schematic diagram of the structure of a mobile behavior interference device provided in an embodiment of the present application. Fig. 9 The mobile behavior interference device provided in this embodiment specifically includes: a position solving module 21, a convergence speed determining module 22, a convergence speed comparing module 23 and a mobile interference module 24.

[0099] The position calculation module 21 is configured to calculate the first position information of the mobile device by a self-differential positioning method after the positioning system of the mobile device is powered on, and calculate the second position information of the mobile device by a precise single point positioning method;

[0100] The convergence speed determination module 22 is configured to determine that the first position information is the target position information of the mobile device when the second position information is not solved, and determine the actual convergence speed of the precise point positioning method;

[0101] A convergence speed comparison module 23, configured to compare the actual convergence speed with the expected convergence speed;

[0102] The movement interference module 24 is configured to interfere with the movement behavior of the mobile device when the actual convergence speed is lower than the expected convergence speed.

[0103] On the basis of the above embodiment, the movement interference module 24 includes: a movement control submodule configured to reduce the movement speed of the mobile device, or control the mobile device to move to an unobstructed position.

[0104] On the basis of the above embodiment, the movement interference module 24 includes: a movement prompting submodule configured to generate prompting information to prompt the user to interfere with the movement behavior of the mobile device.

[0105] Based on the above embodiment, the mobile interference module 24 includes: a first mobile interference submodule configured to interfere with the mobile behavior of the mobile device according to the satellite signal received by the mobile device and / or the actual moving speed of the mobile device.

[0106] On the basis of the above embodiments, the first mobile interference submodule includes: a position judgment unit, configured to determine whether the mobile device is in an obstructed position according to the number and strength of satellite signals received by the mobile device; a first position adjustment unit, configured to control the mobile device to move to an unobstructed position when the mobile device is in an obstructed position, or generate area transfer prompt information, and the area transfer prompt information is used to prompt the user to move the mobile device to an unobstructed position; a first speed adjustment unit, configured to reduce the moving speed of the mobile device when the mobile device is not in an obstructed position, or generate deceleration prompt information, and the deceleration prompt information is used to prompt the user to reduce the moving speed of the mobile device.

[0107] On the basis of the above embodiment, the first mobile interference submodule includes: a speed judgment unit, configured to compare the actual moving speed of the mobile device with a preset speed threshold; a second speed adjustment unit, configured to reduce the moving speed of the mobile device or generate a deceleration prompt message when the actual moving speed is greater than the preset speed threshold; a second position adjustment unit, configured to control the mobile device to move to an unobstructed position or generate an area transfer prompt message when the actual moving speed is less than or equal to the preset speed threshold.

[0108] On the basis of the above embodiment, the convergence speed determination module 22 includes: an actual convergence speed determination submodule, which is configured to obtain the positioning error of the precise single-point positioning method and determine the actual convergence speed according to the change information of the positioning error.

[0109] Based on the above embodiment, the convergence speed comparison module 23 also includes: a location determination submodule, which is configured to determine the location of the mobile device according to the first location information before comparing the actual convergence speed with the expected convergence speed; and an expected convergence speed determination submodule, which is configured to determine the expected convergence speed according to the location of the mobile device.

[0110] Based on the above embodiment, the mobile behavior interference device also includes: a target position determination module, which is configured to determine the target position information of the mobile device based on the second position information after solving the second position information of the mobile device through precise single-point positioning.

[0111] Based on the above embodiment, the mobile behavior interference device also includes a positioning accuracy supervision module, which includes: a positioning accuracy supervision submodule, which is configured to monitor the positioning accuracy of the second position information in real time after the second position information is calculated; a second mobile interference submodule, which is configured to interfere with the mobile behavior of the mobile device when the positioning accuracy is less than a preset positioning accuracy.

[0112] As mentioned above, the mobile behavior interference device provided in the embodiment of the present application, after the positioning system of the mobile device is powered on, simultaneously solves the first position information of the mobile device by the self-differential positioning method and solves the second position information of the mobile device by the precise single point positioning method. Since the self-differential positioning method has a faster solving speed, it will solve the first position information before the precise single point positioning method solves the second position information. In order to improve the operation efficiency of the mobile device, the mobile device uses the first position information as the target position information for operation before solving the second position information. At the same time, the actual convergence speed of the precise single point positioning method is detected, and by comparing the actual convergence speed with the expected convergence speed, it is determined whether the position or speed of the mobile device affects the normal solution of the precise single point positioning method. When the actual convergence speed is greater than the expected convergence speed, it is determined that the mobile device is moving too fast or is in an obstructed position, causing the convergence speed to slow down, thereby interfering with the movement behavior of the mobile device to adjust its movement speed or move it to an unobstructed position, thereby avoiding the failure of the precise single-point positioning method due to the mobile device moving too fast or being in an obstructed area, ensuring that high-precision precise single-point positioning is solved before the self-differential positioning diverges, thereby improving the positioning accuracy of the positioning system and ensuring the operation accuracy.

[0113] The mobile behavior interference device provided in the embodiment of the present application can be used to execute the mobile behavior interference method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0114] Fig.10 is a schematic diagram of a mobile device provided in an embodiment of the present application, with reference to Fig.10The mobile device includes: a processor 31, a memory 32, a communication device 33, an input device 34, and an output device 35. The number of processors 31 in the mobile behavior interference device can be one or more, and the number of memories 32 in the mobile behavior interference device can be one or more. The processor 31, memory 32, communication device 33, input device 34, and output device 35 of the mobile behavior interference device can be connected via a bus or other means.

[0115] The memory 32, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the mobile behavior interference method of any embodiment of the present application (for example, the position solution module 21, the convergence speed determination module 22, the convergence speed comparison module 23 and the mobile interference module 24 in the mobile behavior interference device). The memory 32 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to the use of the device, etc. In addition, the memory 32 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0116] The communication device 33 is used for data transmission.

[0117] The processor 31 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 32, that is, implements the above-mentioned mobile behavior interference method.

[0118] The input device 34 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the device. The output device 35 may include a display device such as a display screen.

[0119] The mobile device provided above can be used to execute the mobile behavior interference method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0120] An embodiment of the present application also provides a storage medium containing computer executable instructions, which are used to execute a mobile behavior interference method when executed by a computer processor. The mobile behavior interference method includes: after the positioning system of the mobile device is powered on, solving the first position information of the mobile device by a self-differential positioning method, and solving the second position information of the mobile device by a precise single-point positioning method; if the second position information is not solved, determining the first position information as the target position information of the mobile device, and determining the actual convergence speed of the precise single-point positioning method; comparing the actual convergence speed with the expected convergence speed; and interfering with the mobile behavior of the mobile device when the actual convergence speed is less than the expected convergence speed.

[0121] Storage medium - any of various types of memory devices or storage devices. The term "storage medium" is intended to include: installation media, such as CD-ROM, floppy disk or tape device; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc. Storage media may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the first computer system in which the program is executed, or may be located in a different second computer system, which is connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media residing in different locations (for example, in different computer systems connected by a network). The storage medium may store program instructions (for example, embodied as a computer program) that can be executed by one or more processors.

[0122] Of course, the storage medium containing computer executable instructions provided in the embodiment of the present application is not limited to the above mobile behavior interference method, and the computer executable instructions can also execute related operations in the mobile behavior interference method provided in any embodiment of the present application.

[0123] The mobile behavior interference device, storage medium and mobile device provided in the above embodiments can execute the mobile behavior interference method provided in any embodiment of the present application. For technical details not described in detail in the above embodiments, please refer to the mobile behavior interference method provided in any embodiment of the present application.

[0124] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the protection scope of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A mobile behavior interference method, characterized in that: include: After the positioning system of the mobile device is powered on, the first position information of the mobile device is solved by a self-differential positioning method, and the second position information of the mobile device is solved by a precise single point positioning method; In the case where the second position information is not solved, determining the first position information as the target position information of the mobile device, and determining an actual convergence speed of the precise point positioning method; comparing the actual convergence rate with the expected convergence rate; When the actual convergence speed is less than the expected convergence speed, the movement behavior of the mobile device is interfered with.

2. The mobile behavior interference method according to claim 1, characterized in that: The interfering with the mobile behavior of the mobile device includes: Reduce the moving speed of the mobile device, or control the mobile device to move to an unobstructed position.

3. The mobile behavior interference method according to claim 1, characterized in that: The interfering with the mobile behavior of the mobile device includes: Generate a prompt message to prompt the user to interfere with the movement behavior of the mobile device.

4. The mobile behavior interference method according to claim 1, characterized in that: The interfering with the mobile behavior of the mobile device includes: The movement behavior of the mobile device is interfered with according to the satellite signal received by the mobile device and / or the actual movement speed of the mobile device.

5. The mobile behavior interference method according to claim 4, characterized in that: The interfering with the movement behavior of the mobile device according to the satellite signal received by the mobile device and / or the actual movement speed of the mobile device includes: determining whether the mobile device is in a shielded position according to the number and strength of satellite signals received by the mobile device; When the mobile device is in an obstructed position, controlling the mobile device to move to an unobstructed position, or generating area transfer prompt information, wherein the area transfer prompt information is used to prompt the user to move the mobile device to an unobstructed position; When the mobile device is not in an obstructing position, the moving speed of the mobile device is reduced or deceleration prompt information is generated, where the deceleration prompt information is used to prompt the user to reduce the moving speed of the mobile device.

6. The mobile behavior interference method according to claim 4, characterized in that: The interfering with the movement behavior of the mobile device according to the satellite signal received by the mobile device and / or the actual movement speed of the mobile device includes: comparing the actual moving speed of the mobile device with a preset speed threshold; When the actual moving speed is greater than a preset speed threshold, reducing the moving speed of the mobile device, or generating a deceleration prompt message; When the actual moving speed is less than or equal to the preset speed threshold, the mobile device is controlled to move to an unobstructed position, or area transfer prompt information is generated.

7. The mobile behavior interference method according to claim 1, characterized in that: The determining of the actual convergence speed of the precise point positioning method includes: The positioning error of the precise single-point positioning method is obtained, and the actual convergence speed is determined according to the change information of the positioning error.

8. The mobile behavior interference method according to claim 1, characterized in that: Before comparing the actual convergence speed with the expected convergence speed, the method further includes: determining a location of the mobile device according to the first location information; An expected convergence speed is determined according to a region where the mobile device is located.

9. The mobile behavior interference method according to claim 1, characterized in that: After calculating the second location information of the mobile device by the precise point positioning method, the method further includes: When the second location information is calculated, the target location information of the mobile device is determined based on the second location information.

10. The mobile behavior interference method according to claim 1, characterized in that: The method further comprises: After calculating the second position information, monitoring the positioning accuracy of the second position information in real time; When the positioning accuracy is less than a preset positioning accuracy, the movement behavior of the mobile device is interfered with.

11. A mobile behavior interference device, characterized in that: include: A position calculation module is configured to calculate the first position information of the mobile device by a self-differential positioning method and calculate the second position information of the mobile device by a precise single point positioning method after the positioning system of the mobile device is powered on; a convergence speed determination module, configured to determine that the first position information is the target position information of the mobile device when the second position information is not solved, and determine an actual convergence speed of the precise point positioning method; A convergence speed comparison module, configured to compare the actual convergence speed with an expected convergence speed; The mobile interference module is configured to interfere with the mobile behavior of the mobile device when the actual convergence speed is less than the expected convergence speed.

12. A mobile device, characterized in that: include: one or more processors; A memory stores one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the mobile behavior interference method as described in any one of claims 1-10.

13. A storage medium containing computer executable instructions, characterized in that: When the computer executable instructions are executed by a computer processor, they are used to perform the movement behavior interference method as described in any one of claims 1-10.

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